Learning Robotics by Playing with V-REP
The right way to use force sensor in V-REP （4 steps totally, the step 3 is crucial to guarantee the validity of force/torque data）
[res,forcesensor] = vrep.simxGetObjectHandle(id,'Force_sensor',vrep.simx_opmode_oneshot_wait);
vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_streaming);
while (1) [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer); if res == vrep.simx_return_ok && state == 1 break; else disp('force sensor data is not available!'); pause(0.1); end end while vrep.simxGetConnectionId(id)~=-1 [res,state,f,tau] = vrep.simxReadForceSensor(id,forcesensor,vrep.simx_opmode_buffer); end