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Tutorial: Force/Torque Sensors#

Requires at least YARP 3.4. First, activate the teoSim Force/Torque Sensors: In the YARP application manager instance, navigate through Applications > teoSimBase_App > right-click on the openraveYarpPluginLoaderClient corresponding to multipleanalogsensorsserver > Run

Via GUIs#

To view the force/torque signals, perform the sequence:

  1. In the YARP application manager instance, navigate through Applications > teoSimTools_App > right-click on the corresponding yarpscope > Run
  2. In the YARP application manager instance, navigate through Applications > teoSimTools_App > right-click on the corresponding (bottom frame) connection > Connect

Activate physics and move joints in teoSim, and you should get results similar to the figure below.

teoSim-depth

Via APIs#

The preferred approach, using the APIs provided by YARP within our programs and scripts.