Joint sensor

The modelling of a sensor in the joint.

Attributes

• Name: The name used when referring to this element from other places.

Mandatory children:

• type: Defines the sensor for the joint.
  • Var: smtk_sensor_choice
  • Type: constant
  • Default: position
  • Possible values: position, velocity
• axis: Indicates the axis to be sensed.
  • Var: smtk_axis
  • Type: constant
  • Default value: x
  • Possible options: x, y, z, rx, ry, rz
• update_rate: The frequency at which the sensor data is generated automatically. If set to 0 the sensor will not automatically update the data.
  • Var: smtk_float
  • Type: constant
  • Default: 0.1
• enable: Enable or disable the joint sensor.
  • Var: smtk_bool
  • Type: input
  • Default: true
• value: Value for the motor sensing.
  • Var: smtk_float
  • Type: output
  • Default: 0.0