Schemas / I/O
rig.sensor.wrench
v1.0.0 · stable maturity: draft 4 fields 0 required
Fields
| Field | Type | Meaning | |
|---|---|---|---|
rateHz |
number> 0 | optional | Optional. Samples per second. Absent = the host default |
force |
vec3 | optional | Optional. Force at load, in the entity frame. Mass unit of rig.sim.rigidbody mass, scene length, seconds. Absent = not measured |
torque |
vec3 | optional | Optional. Torque at load, same frame and units times a length. Absent = not measured |
device |
entity | optional | Optional board / network entity. Absent = local |
Force and torque sample. Format when present. The frame is this entity.
force and torque are the sample when the document is loaded. A host that saves a running sensor writes the current sample. The history stays in the host.
Pose is rig.spatial.transform. A wrist sensor parents to the link it measures.
JSON Schema
Resolves at https://rig.works/schemas/rig.sensor.wrench.schema.json —
raw file.
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://rig.works/schemas/rig.sensor.wrench.schema.json",
"title": "rig.sensor.wrench",
"type": "object",
"additionalProperties": false,
"properties": {
"rateHz": {
"type": "number",
"exclusiveMinimum": 0
},
"force": {
"$ref": "./_defs.schema.json#/$defs/vec3"
},
"torque": {
"$ref": "./_defs.schema.json#/$defs/vec3"
},
"device": {
"$ref": "./_defs.schema.json#/$defs/entity"
}
},
"x-rig-maturity": "draft"
}