I recommend you to use, Robot App 1.7.5 from the store,
There is a Tab Torque Sensor Calibration
![](https://support.motorcortex.io/assets/files/2023-09-15/1694787183-447609-screenshot-from-2023-09-15-16-11-43.png)
In the standard, Robot APP GUI there is no collision detection, use desk to search for the paths:
![](https://support.motorcortex.io/assets/files/2023-09-15/1694787411-357837-screenshot-from-2023-09-15-16-16-40.png)
For Collision Detector you need to link PDO entrie TorqueSensor Actual value to motorcortex parameter:
For example:
![](https://support.motorcortex.io/assets/files/2023-09-15/1694787796-126427-screenshot-from-2023-09-15-16-21-56.png)
Also i recommend to checkout the sensor torqueTransducer:
![](https://support.motorcortex.io/assets/files/2023-09-15/1694787914-109334-screenshot-from-2023-09-15-16-24-37.png)