Got the answer after a bit of scouring the library, simply use a 'Transform Sensor' in parallel to the joint, and output whatever physical quantity resolved in a frame of your choosing.
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Can a joint produce 'Sensing' outputs resolved in the follower frame?
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Take for example the planar joint, can I get the position, velocity, acceleration of the follower frame resolved in the follower frame axes? the 1st-gen body sensors (I think) had that capability.
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