Robotics/Joints/CoupledJointDriveTrain.openplx
CoupledJointDriveTrain
CoupledJointDriveTrain is Physics3D.System: .doc: """ Implements a drive train coupling between two actuators, including a sensor for position and velocity of the interconnecting shaft. """ shaft is DriveTrain.Shaft: inertia.inertia: 1E-6 angle_output.enabled: true angular_velocity_output.enabled: true sensor is Robotics.Signals.Sensor: outputs: [shaft.angle_output, shaft.angular_velocity_output] primary_actuator is DriveTrain.Actuator: connector_1d: shaft.output mimic_actuator is DriveTrain.Actuator: connector_1d: shaft.output