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Joint sensor

The modelling of a sensor in the joint.


  • 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