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Locker

It is used to define a locker element. This will actuate as a ray and will create a fixed constraint between the link where is contained and the touched link.

Note

A link that uses a locker needs to be a dynamic physical object, meaning that it needs to have a mass and collision.

Mandatory children

  • Origin: Initial transformation frame respect to the link's frame of reference.

    • Var: smtk_transform
    • Type: Constant
    • Default: 0 0 0 0 0 0 1
    • Values info: x y z qx qy qz qw

  • Enable: Switch to set if the locker is on or off.

    • Var: smtk_bool
    • Type: Input
    • Default: true

  • Collision tag: Sensing technology used by the locker.

    • Var: smtk_sensor_technology_array
    • Type: Constant
    • Possible values: "all", "none", "capacitive", "diffuse", "inductive", "photoelectric", "barcode", "rfid", "magnetic".
    • Default: "all"

  • Length: The max length of the ray casted for the locker in meters.

    • Var: smtk_float
    • Type: Input
    • Default: 0

  • Locked: Feedback to know if the locker is on or off.

    • Var: smtk_bool
    • Type: Output
    • Default: false