Action 

Description 

• Create a joint and select axis,
• Show the Modify panel then select the Devices sub-panel.

 

 

• Click on Choose Device icon to open the list of plugins that may be attached to this geometry.
• Choose Force and Torque Sensor.

Mount As: represents the name of the device in the simulation. 

 

Double-click on the sensor's reference in order to display/change its settings:

Max detectable force : maximum force that the sensor can detect. After this force, 'Max detectable force' is returned by the sensor.

Force sensor enabled : enable/disable force sensor measurement. If enabled, a saturation value can be set.

Torque sensor enabled : enable/disable torque sensor measurement. If enabled, a saturation value can be set. 

 

In MODA programming, force sensors are accessible via the DeviceForceSensor class. The device's full path in this example, starting at PHX "/" is slider0/a1/device0.