RoboSkate_API.md
RoboSkate action values
| variable | description | range | unit | comment |
|---|---|---|---|---|
| joint1 | applied force | [-40, 40] | ||
| joint2 | applied force | [-40, 40] | ||
| joint3 | applied force | [-40, 40] |
Larger values are not returned by the velocity sensors. Due to the mass inertia, however, it is possible to work with significantly larger values for a short time without any problems.
RoboSkate observation values
| variable | description | range | unit | comment |
|---|---|---|---|---|
| boardCraneJointAngles[0] | Joint1 pos | [-180, 180] | deg | |
| boardCraneJointAngles[1] | Joint2 pos | [-90, 90] | deg | |
| boardCraneJointAngles[2] | Joint3 pos | [-125, 125] | deg | |
| boardCraneJointAngles[3] | Joint1 velocity | [-170, 170] | deg/sec | input * 3,67 = output |
| boardCraneJointAngles[4] | Joint2 velocity | [-170, 170] | deg/sec | input * 3,67 = output |
| boardCraneJointAngles[5] | Joint3 velocity | [-170, 170] | deg/sec | input * 3,67 = output |
| variable | description | range | unit | comment |
|---|---|---|---|---|
| boardPosition [0] | x | [<-240, >240] | m | forward / backward - 500 is enough for now |
| boardPosition [1] | z | [<-20, >20] | m | up / down - 500 is enough for now |
| boardPosition [2] | y | [<-240, >240] | m | left / right - 500 is enough for now |
| boardPosition [3] | Velocity x | [-10, +10] | m/sec | 10 is enough |
| boardPosition [4] | Velocity z | [-10, +10] | m/sec | 10 is enough |
| boardPosition [5] | Velocity y | [-10, +10] | m/sec | 10 is enough |
| boardPosition [6] | Acceleration x | [-10, +10] | rad/sec | Very unstable better not to use. |
| boardPosition [7] | Acceleration z | [-10, +10] | rad/sec | Very unstable better not to use. |
| boardPosition [8] | Acceleration y | [-10, +10] | rad/sec | Very unstable better not to use. |
| variable | description | range | unit | comment |
|---|---|---|---|---|
| boardRotation [0] | [0, 360] | deg | not working! | |
| boardRotation [1] | [0, 360] | deg | not working! | |
| boardRotation [2] | [0, 360] | deg | not working! | |
| boardRotation [3] | Quaternion | [-1, 1] | not working! | |
| boardRotation [4] | Quaternion | [-1, 1] | not working! | |
| boardRotation [5] | Quaternion | [-1, 1] | not working! | |
| boardRotation [6] | Quaternion | [-1, 1] | not working! | |
| boardRotation [7] | forward x | [-1, 1] | If the board is pointing straight forward, this entry is 1. | |
| boardRotation [8] | forward z | [-1, 1] | If the entry is 1, the board is vertically upright. so hopefully never | |
| boardRotation [9] | forward y | [-1, 1] | If the board points to the left, this entry is 1. | |
| boardRotation [10] | upward x | [-1, 1] | If the board were pitched or rolled (depending on the Yaw) 90°, this value would be 1. | |
| boardRotation [11] | upward z | [-1, 1] | When the Bold is flat on the ground this entry is 1 (yaw dose not change this value) | |
| boardRotation [12] | upward y | [-1, 1] | If the board were pitched or rolled (depending on the Yaw) 90°, this value would be 1. If it is rolled in initial position this is 1. |
RoboSkate Level Map
