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Robotics/Signals/RobotOutput.openplx

RobotOutput

RobotOutput is Physics.Signals.Output:
  .doc: """
A filter that accepts signals from specified sources and composes them into a RobotOutputSignal
- Signal values from `sensors` will be composed into `sensor_values` with possibly multiple values under the name of the sensor.

The following signals are unnamed, so the order is important:
- Signal values from `joint_sources` with type InputOutputType.Angle will be composed in order into `angles`
- Signal values from `joint_sources` with type InputOutputType.AngularVelocity1D will be composed in order into `angular_velocities`
- Signal values from `joint_sources` with type InputOutputType.Torque will be composed in order into `torques`
- Signal values from `object_sources` will be composed in order into `object_values`.

"""
    type: Physics.Signals.InputOutputType.Composite
    joint_sources is Physics.Signals.Output[]: []
    # object_sources are unnamed and arrives in the order defined by this list
    object_sources is Physics.Signals.Output[]: []

    sensors is Robotics.Signals.Sensor[]: []
    fn process(output: Physics.Signals.Output, signals: Physics.Signals.OutputSignal[]) -> Physics.Signals.OutputSignal