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Mechanical translation output

Models a mechanical output port that sends a linear velocity (m/s) or position (m) and returns a force (N).

Mandatory children

  • origin: The reference frame of the port in 3D view with respect to the reference frame of the link.
    • Var: smtk_transform
    • Type: constant
    • Default value: 0 0 0 0 0 0 1
    • Value labels: x y z qx qy qz qw
  • position: The reference frame of the port in 2D view with respect to the reference frame of the link.
    • Var: smtk_vector2
    • Type: constant
    • Default value: 0 0
    • Value labels: x y
  • mode: Defines the transferred mode.
    • Var: smtk_mechanical_choice
    • Type: output
    • Default value: velocity
    • Possible options: position, velocity
  • value: Value sent in m or m/s.
    • Var: smtk_float
    • Type: output
    • Default value: 0.0
  • torque: Force recieved in N.
    • Var: smtk_float
    • Type: input
    • Default value: 0.0