v18.sensor.Sensor.ForceTorque

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v18.sensor.Sensor.ForceTorque(frame='child', measure_direction='child_to_parent', force=None, torque=None)

These elements are specific to the force torque sensor.

Parameters
frame: Frame in which to report the wrench values. Currently

supported frames are: “parent” report the wrench expressed in the orientation of the parent link frame, “child” report the wrench expressed in the orientation of the child link frame, “sensor” report the wrench expressed in the orientation of the joint sensor frame. Note that for each option the point with respect to which the torque component of the wrench is expressed is the joint origin.

measure_direction: Direction of the wrench measured by the

sensor. The supported options are: “parent_to_child” if the measured wrench is the one applied by the parent link on the child link, “child_to_parent” if the measured wrench is the one applied by the child link on the parent link.

force: These elements are specific to measurement-frame force,

which is expressed in Newtons

torque: These elements are specific to measurement-frame torque,

which is expressed in Newton-meters

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v18.sensor.Sensor.ForceTorque.Force([x, y, z])

These elements are specific to measurement-frame force, which is expressed in Newtons.

v18.sensor.Sensor.ForceTorque.Torque([x, y, z])

These elements are specific to measurement-frame torque, which is expressed in Newton-meters.