CoppeliaSim forums

Hello there,
I'm trying to add force sensors to my robotic dog legs and I receive a nil from sim.readForceSensor.
I have read the other questions in the forum about the force sensor but i still can't figure it out. according to- https://forum.coppeliarobotics.com/viewtopic.php?t=5788 I have added a force sensor and then a sphere to the robot leg tip.
please help me figure out the problem.

My CoppeliaSim scene can be found here-
https://drive.google.com/drive/folders/ ... sp=sharing

Hello,

your force sensors are not dynamically enabled. Read more about dynamically enabled joints and force sensors here. You will have to set those sphere as respondable and dynamic. Now they are non-respondable and static.
Also, keep in mind that depending when or where you are reading a force sensor, the physics engine didn't yet compute a first frame, and the return might also be nil (but subsequent frames should generate valid data if correctly enabled)

Then, your other bodies are generating a lot of collisions, and those bodies are not convex or primitive shapes. This will be painfully slow.

We have an unfinished model of Spot available here. Most things are optimized (simplified meshes, convex respondable shapes, etc.. But it just stands, without motion. Feel free to improve on it.

Cheers