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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 <skeleton.h>
Public Attributes | |
| double | size |
| scaling factor for robot (height) More... | |
| double | massfactor |
| mass factor for all parts More... | |
| bool | useDensity |
| massfactor is interpreted as a density More... | |
| bool | useVelocityServos |
| if true the more stable velocity controlling servos are used More... | |
| double | relLegmass |
| relative overall leg mass More... | |
| double | relArmmass |
| relative overall arm mass More... | |
| double | relFeetmass |
| relative overall feet mass More... | |
| double | hipPower |
| maximal force for at hip joint motors More... | |
| double | hipDamping |
| damping of hip joint servos More... | |
| double | hipVelocity |
| velocity of hip joint servos More... | |
| double | hipJointLimit |
| angle range for legs More... | |
| double | hip2Power |
| maximal force for at hip2 (sagital joint axis) joint motors More... | |
| double | hip2Damping |
| damping of hip2 joint servos More... | |
| double | hip2JointLimit |
| angle range for hip joint in lateral direction More... | |
| double | neckPower |
| spring strength in the neck More... | |
| double | neckDamping |
| damping in the neck More... | |
| double | neckVelocity |
| velocity in the neck More... | |
| double | neckJointLimit |
| angle range for neck More... | |
| double | kneePower |
| spring strength in the knees More... | |
| double | kneeDamping |
| damping in the knees More... | |
| double | kneeVelocity |
| velocity in the knees More... | |
| double | kneeJointLimit |
| angle range for knees More... | |
| double | anklePower |
| spring strength in the ankles More... | |
| double | ankleDamping |
| damping in the ankles More... | |
| double | ankleVelocity |
| velocity in the ankles More... | |
| double | ankleJointLimit |
| angle range for ankles More... | |
| double | armPower |
| maximal force for at arm (shoulder) joint motors More... | |
| double | armDamping |
| damping of arm ((shoulder)) joint servos More... | |
| double | armVelocity |
| velocity of arm ((shoulder)) joint servos More... | |
| double | armJointLimit |
| angle range of arm joint More... | |
| double | elbowPower |
| maximal force for at elbow (shoulder) joint motors More... | |
| double | elbowDamping |
| damping of elbow ((shoulder)) joint servos More... | |
| double | elbowVelocity |
| velocity of elbow ((shoulder)) joint servos More... | |
| double | elbowJointLimit |
| angle range of elbow joint More... | |
| double | pelvisPower |
| maximal force for at pelvis joint motor More... | |
| double | pelvisDamping |
| damping of pelvis joint servo More... | |
| double | pelvisVelocity |
| velocity of pelvis joint servo More... | |
| double | pelvisJointLimit |
| angle range of pelvis joint More... | |
| double | backPower |
| maximal force for at back joint motor More... | |
| double | backDamping |
| damping of back joint servo More... | |
| double | backVelocity |
| velocity of back joint servo More... | |
| double | backJointLimit |
| angle range of back joint More... | |
| double | powerFactor |
| scale factor for maximal forces of the servos More... | |
| double | relForce |
| factor between arm force and rest More... | |
| double | dampingFactor |
| scale factor for damping of the servos More... | |
| double | jointLimitFactor |
| factor between servo range (XXXJointLimit, see above) and physical joint limit More... | |
| bool | onlyPrimaryFunctions |
| true: only leg and arm are controlable, false: all joints More... | |
| bool | onlyMainParameters |
| true: only a few parameters are exported for configuration More... | |
| bool | handsRotating |
| hands are attached with a ball joint More... | |
| bool | useGripper |
| hands have a gripper: use getGrippers and add grippables More... | |
| double | gripDuration |
| time the gripper can grasp More... | |
| double | releaseDuration |
| time the gripper has to release before grasping again More... | |
| bool | movableHead |
| if false then no neck movement More... | |
| bool | useBackJoint |
| whether to use the joint in the back More... | |
| bool | backSideBend |
| whether to use a joint to bend the back sideways More... | |
| bool | irSensors |
| whether to use the irsensor eyes More... | |
| std::string | headColor |
| special color of head (typically like body) More... | |
| std::string | bodyColor |
| color of skin More... | |
| std::string | trunkColor |
| color of upper body (pullover-color) More... | |
| std::string | trouserColor |
| color of upper legs and hands (trousers-color) More... | |
| std::string | headTexture |
| std::string | bodyTexture |
| std::string | trunkTexture |
| double ankleDamping |
damping in the ankles
| double ankleJointLimit |
angle range for ankles
| double anklePower |
spring strength in the ankles
| double ankleVelocity |
velocity in the ankles
| double armDamping |
damping of arm ((shoulder)) joint servos
| double armJointLimit |
angle range of arm joint
| double armPower |
maximal force for at arm (shoulder) joint motors
| double armVelocity |
velocity of arm ((shoulder)) joint servos
| double backDamping |
damping of back joint servo
| double backJointLimit |
angle range of back joint
| double backPower |
maximal force for at back joint motor
| bool backSideBend |
whether to use a joint to bend the back sideways
| double backVelocity |
velocity of back joint servo
| std::string bodyColor |
color of skin
| std::string bodyTexture |
| double dampingFactor |
scale factor for damping of the servos
| double elbowDamping |
damping of elbow ((shoulder)) joint servos
| double elbowJointLimit |
angle range of elbow joint
| double elbowPower |
maximal force for at elbow (shoulder) joint motors
| double elbowVelocity |
velocity of elbow ((shoulder)) joint servos
| double gripDuration |
time the gripper can grasp
| bool handsRotating |
hands are attached with a ball joint
| std::string headColor |
special color of head (typically like body)
| std::string headTexture |
| double hip2Damping |
damping of hip2 joint servos
| double hip2JointLimit |
angle range for hip joint in lateral direction
| double hip2Power |
maximal force for at hip2 (sagital joint axis) joint motors
| double hipDamping |
damping of hip joint servos
| double hipJointLimit |
angle range for legs
| double hipPower |
maximal force for at hip joint motors
| double hipVelocity |
velocity of hip joint servos
| bool irSensors |
whether to use the irsensor eyes
| double jointLimitFactor |
factor between servo range (XXXJointLimit, see above) and physical joint limit
| double kneeDamping |
damping in the knees
| double kneeJointLimit |
angle range for knees
| double kneePower |
spring strength in the knees
| double kneeVelocity |
velocity in the knees
| double massfactor |
mass factor for all parts
| bool movableHead |
if false then no neck movement
| double neckDamping |
damping in the neck
| double neckJointLimit |
angle range for neck
| double neckPower |
spring strength in the neck
| double neckVelocity |
velocity in the neck
| bool onlyMainParameters |
true: only a few parameters are exported for configuration
| bool onlyPrimaryFunctions |
true: only leg and arm are controlable, false: all joints
| double pelvisDamping |
damping of pelvis joint servo
| double pelvisJointLimit |
angle range of pelvis joint
| double pelvisPower |
maximal force for at pelvis joint motor
| double pelvisVelocity |
velocity of pelvis joint servo
| double powerFactor |
scale factor for maximal forces of the servos
| double relArmmass |
relative overall arm mass
| double releaseDuration |
time the gripper has to release before grasping again
| double relFeetmass |
relative overall feet mass
| double relForce |
factor between arm force and rest
| double relLegmass |
relative overall leg mass
| double size |
scaling factor for robot (height)
| std::string trouserColor |
color of upper legs and hands (trousers-color)
| std::string trunkColor |
color of upper body (pullover-color)
| std::string trunkTexture |
| bool useBackJoint |
whether to use the joint in the back
| bool useDensity |
massfactor is interpreted as a density
| bool useGripper |
hands have a gripper: use getGrippers and add grippables
| bool useVelocityServos |
if true the more stable velocity controlling servos are used
1.8.6 
