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