How to create a joint with sensor programatically?
I'm trying to create a joint from a plugin code that would look as follows:
<joint name="joint_a_b" type="revolute"> <parent>link_a</parent> <child>link_b</child> ... <sensor name="force_torque_a_b" type="force_torque"> <always_on>true</always_on> <update_rate>1000</update_rate> <plugin name="breakable_a_b" filename="libBreakableJointPlugin.so"> <breaking_force_N>1</breaking_force_N> </plugin> </sensor> </joint>"
I was able to create the joint using
physicsEngine->CreateJoint() and setting it's properties directly on the
Joint object. However, I can't figure out how to attach a sensor to it. A sensor that uses a plugin.
I tried to create the whole thing by creating an SDF object with the above XML and passing it to
Joint::Load() method. But because that XML is not a full world or model description it get's rejected.
I also tried to make some sense out of
sensors::create_sensor but I got stuck on the same problem with XML.