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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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#include <amos4legs.h>
Public Attributes | |
| double | size |
| scaling factor for robot (length of body) More... | |
| double | width |
| trunk width More... | |
| double | height |
| trunk height More... | |
| double | frontLength |
| length of the front of the body (if back joint is used) More... | |
| double | wheel_radius |
| radius of a wheel More... | |
| double | wheel_width |
| width of a wheel More... | |
| double | wheel_mass |
| mass of a wheel More... | |
| double | trunkMass |
| trunk mass More... | |
| double | frontMass |
| mass of the front part of the robot (if backboine joint is used) More... | |
| double | shoulderMass |
| mass of the shoulders (if used) More... | |
| double | coxaMass |
| mass of the coxa limbs More... | |
| double | secondMass |
| mass of the second limbs More... | |
| double | tebiaMass |
| mass of the tebia limbs More... | |
| double | footMass |
| mass of the feet More... | |
| double | shoulderHeight |
| fix legs to trunk at this distance from bottom of trunk More... | |
| double | legdist1 |
| distance between hindlegs and middle legs More... | |
| double | legdist2 |
| distance between middle legs and front legs More... | |
flags | |
Enable or disable different element and features | |
| bool | useShoulder |
| fix the shoulder element to the trunk. More... | |
| bool | useTebiaJoints |
| whether to use joints at the knees or fix them More... | |
| bool | useFoot |
| use spring foot More... | |
| bool | useBack |
| use the hinge joint in the back More... | |
| bool | rubberFeet |
| if true, rubber substance is used for feet instead of the substance used for the rest of the robot More... | |
| bool | useLocalVelSensor |
| decide whether you wand to use a local velocity sensors. More... | |
| bool | legContactSensorIsBinary |
| Use binary leg contact sensors. More... | |
Leg extension from trunk | |
amosII has a fixed but adjustable joint that decides how the legs extend from the trunk.here you can adjust these joints, if shoulder = 0 this still influences how the legs extend (the coxa-trunk connection in that case) | |
| double | fLegTrunkAngleV |
| angle in rad around vertical axis at leg-trunk fixation for front legs More... | |
| double | fLegTrunkAngleH |
| angle in rad around horizontal axis at leg-trunk fixation for front legs More... | |
| double | fLegRotAngle |
| rotation of front legs around own axis More... | |
| double | mLegTrunkAngleV |
| angle in rad around vertical axis at leg-trunk fixation for middle legs More... | |
| double | mLegTrunkAngleH |
| angle in rad around horizontal axis at leg-trunk fixation for middle legs More... | |
| double | mLegRotAngle |
| rotation of middle legs around own axis More... | |
| double | rLegTrunkAngleV |
| angle in rad around vertical axis at leg-trunk fixation for rear legs More... | |
| double | rLegTrunkAngleH |
| angle in rad around horizontal axis at leg-trunk fixation for rear legs More... | |
| double | rLegRotAngle |
| rotation of rear legs around own axis More... | |
leg part dimensions | |
the lengths and radii of the individual leg parts | |
| double | shoulderLength |
| length of the shoulder limbs (if used) More... | |
| double | shoulderRadius |
| radius of the shoulder limbs (if used) More... | |
| double | coxaLength |
| length of the coxa limbs More... | |
| double | coxaRadius |
| radius of the coxa limbs More... | |
| double | secondLength |
| length of the second limbs More... | |
| double | secondRadius |
| radius of the second limbs More... | |
| double | tebiaLength |
| length of the tebia limbs including fully extended foot spring (if used) More... | |
| double | tebiaRadius |
| radius of the tebia limbs More... | |
| double | footRange |
| range of the foot spring More... | |
| double | footRadius |
| radius of the foot capsules, choose different from tebiaRadius More... | |
Joint Limits | |
set limits for each joint | |
| double | backJointLimitD |
| { More... | |
| double | backJointLimitU |
| upper limit of the backbone joint, positive is down More... | |
| double | fcoxaJointLimitF |
| forward limit of the front TC joints, negative is forward (zero specified by fcoxazero) More... | |
| double | fcoxaJointLimitB |
| backward limit of the front TC joints, negative is forward (zero specified by fcoxaZero) More... | |
| double | mcoxaJointLimitF |
| forward limit of the middle TC joints, negative is forward (zero specified by fcoxaZero) More... | |
| double | mcoxaJointLimitB |
| backward limit of the middle TC joints, negative is forward (zero specified by fcoxaZero) More... | |
| double | rcoxaJointLimitF |
| forward limit of the rear TC joints, negative is forward (zero specified by fcoxaZero) More... | |
| double | rcoxaJointLimitB |
| backward limit of the rear TC joints, negative is forward (zero specified by fcoxaZero) More... | |
| double | secondJointLimitD |
| lower limit of the CTr joints, positive is down More... | |
| double | secondJointLimitU |
| upper limit of the CTr joints, positive is down More... | |
| double | tebiaJointLimitD |
| lower limit of the FTi joints, positive is down More... | |
| double | tebiaJointLimitU |
| upper limit of the FTi joints, positive is down More... | |
| double | footSpringPreload |
| } More... | |
| double | footSpringLimitU |
| upper limit of the foot spring = maximum value (negative is downwards (spring extends)) More... | |
| double | footSpringLimitD |
| lower limit of the foot spring = minimum value (negative is downwards (spring extends)) More... | |
| double | backPower |
| maximal force of the backbone joint More... | |
| double | coxaPower |
| maximal force of the TC joint servos More... | |
| double | secondPower |
| maximal force of the CTr joint servos More... | |
| double | tebiaPower |
| maximal force of the FTi joint servos More... | |
| double | footPower |
| maximal force of the foot spring servos More... | |
| double | backDamping |
| damping of the backbone joint servo More... | |
| double | coxaDamping |
| damping of the TC joint servos More... | |
| double | secondDamping |
| damping of the CTr joint servo More... | |
| double | tebiaDamping |
| damping of the FTi joint servo More... | |
| double | footDamping |
| damping of the foot spring servo More... | |
| double | backMaxVel |
| maximal velocity of the backbone joint servo More... | |
| double | coxaMaxVel |
| maximal velocity of the TC joint servo More... | |
| double | secondMaxVel |
| maximal velocity of the CTr joint servo More... | |
| double | tebiaMaxVel |
| maximal velocity of the FTi joint servo More... | |
| double | footMaxVel |
| maximal velocity of the foot spring servo More... | |
front ultrasonic sensors | |
configure the front ultrasonic sensors | |
| double | usAngleX |
| { More... | |
| double | usAngleY |
| angle versus y axis More... | |
| bool | usParallel |
| choose between parallel or antiparallel front ultrasonic sensors true means parallel More... | |
| double | usRangeFront |
| range of the front ultrasonic sensors More... | |
| double | irRangeLeg |
| } More... | |
| std::string | texture |
| path to texture for legs More... | |
| std::string | bodyTexture |
| path to texture for trunk More... | |
| std::vector< Primitive * > | GoalSensor_references |
| int | amos_version |
| int amos_version |
| double backDamping |
damping of the backbone joint servo
| double backJointLimitD |
{
smaller limit of the backbone joint, positive is down
| double backJointLimitU |
upper limit of the backbone joint, positive is down
| double backMaxVel |
maximal velocity of the backbone joint servo
| double backPower |
maximal force of the backbone joint
| std::string bodyTexture |
path to texture for trunk
| double coxaDamping |
damping of the TC joint servos
| double coxaLength |
length of the coxa limbs
| double coxaMass |
mass of the coxa limbs
| double coxaMaxVel |
maximal velocity of the TC joint servo
| double coxaPower |
maximal force of the TC joint servos
| double coxaRadius |
radius of the coxa limbs
| double fcoxaJointLimitB |
backward limit of the front TC joints, negative is forward (zero specified by fcoxaZero)
| double fcoxaJointLimitF |
forward limit of the front TC joints, negative is forward (zero specified by fcoxazero)
| double fLegRotAngle |
rotation of front legs around own axis
| double fLegTrunkAngleH |
angle in rad around horizontal axis at leg-trunk fixation for front legs
| double fLegTrunkAngleV |
angle in rad around vertical axis at leg-trunk fixation for front legs
| double footDamping |
damping of the foot spring servo
| double footMass |
mass of the feet
| double footMaxVel |
maximal velocity of the foot spring servo
| double footPower |
maximal force of the foot spring servos
| double footRadius |
radius of the foot capsules, choose different from tebiaRadius
| double footRange |
range of the foot spring
| double footSpringLimitD |
lower limit of the foot spring = minimum value (negative is downwards (spring extends))
| double footSpringLimitU |
upper limit of the foot spring = maximum value (negative is downwards (spring extends))
| double footSpringPreload |
}
preload of the foot spring
| double frontLength |
length of the front of the body (if back joint is used)
| double frontMass |
mass of the front part of the robot (if backboine joint is used)
| std::vector<Primitive*> GoalSensor_references |
| double height |
trunk height
| double irRangeLeg |
}
range of the infrared sensors at the legs
| bool legContactSensorIsBinary |
Use binary leg contact sensors.
If false, a force sensor is used.
| double legdist1 |
distance between hindlegs and middle legs
| double legdist2 |
distance between middle legs and front legs
| double mcoxaJointLimitB |
backward limit of the middle TC joints, negative is forward (zero specified by fcoxaZero)
| double mcoxaJointLimitF |
forward limit of the middle TC joints, negative is forward (zero specified by fcoxaZero)
| double mLegRotAngle |
rotation of middle legs around own axis
| double mLegTrunkAngleH |
angle in rad around horizontal axis at leg-trunk fixation for middle legs
| double mLegTrunkAngleV |
angle in rad around vertical axis at leg-trunk fixation for middle legs
| double rcoxaJointLimitB |
backward limit of the rear TC joints, negative is forward (zero specified by fcoxaZero)
| double rcoxaJointLimitF |
forward limit of the rear TC joints, negative is forward (zero specified by fcoxaZero)
| double rLegRotAngle |
rotation of rear legs around own axis
| double rLegTrunkAngleH |
angle in rad around horizontal axis at leg-trunk fixation for rear legs
| double rLegTrunkAngleV |
angle in rad around vertical axis at leg-trunk fixation for rear legs
| bool rubberFeet |
if true, rubber substance is used for feet instead of the substance used for the rest of the robot
| double secondDamping |
damping of the CTr joint servo
| double secondJointLimitD |
lower limit of the CTr joints, positive is down
| double secondJointLimitU |
upper limit of the CTr joints, positive is down
| double secondLength |
length of the second limbs
| double secondMass |
mass of the second limbs
| double secondMaxVel |
maximal velocity of the CTr joint servo
| double secondPower |
maximal force of the CTr joint servos
| double secondRadius |
radius of the second limbs
| double shoulderHeight |
fix legs to trunk at this distance from bottom of trunk
| double shoulderLength |
length of the shoulder limbs (if used)
| double shoulderMass |
mass of the shoulders (if used)
| double shoulderRadius |
radius of the shoulder limbs (if used)
| double size |
scaling factor for robot (length of body)
| double tebiaDamping |
damping of the FTi joint servo
| double tebiaJointLimitD |
lower limit of the FTi joints, positive is down
| double tebiaJointLimitU |
upper limit of the FTi joints, positive is down
| double tebiaLength |
length of the tebia limbs including fully extended foot spring (if used)
| double tebiaMass |
mass of the tebia limbs
| double tebiaMaxVel |
maximal velocity of the FTi joint servo
| double tebiaPower |
maximal force of the FTi joint servos
| double tebiaRadius |
radius of the tebia limbs
| std::string texture |
path to texture for legs
| double trunkMass |
trunk mass
| double usAngleX |
{
angle versus x axis
| double usAngleY |
angle versus y axis
| bool useBack |
use the hinge joint in the back
| bool useFoot |
use spring foot
| bool useLocalVelSensor |
decide whether you wand to use a local velocity sensors.
If yes it gets velocity vector in local coordinates and pass it as sensorvalues
| bool useShoulder |
fix the shoulder element to the trunk.
| bool useTebiaJoints |
whether to use joints at the knees or fix them
| bool usParallel |
choose between parallel or antiparallel front ultrasonic sensors true means parallel
| double usRangeFront |
range of the front ultrasonic sensors
| double wheel_mass |
mass of a wheel
| double wheel_radius |
radius of a wheel
| double wheel_width |
width of a wheel
| double width |
trunk width
1.8.6 
