Namespace: Parameters

Members

Bounce

The bouncyness of the stops. This is a restitution parameter in the range 0..1. 0 means the stops are not bouncy at all, 1 means maximum bouncyness.

FMax

The maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.

FudgeFactor

The current joint stop/motor implementation has a small problem: when the joint is at one stop and the motor is set to move it away from the stop, too much force may be applied for one time step, causing a ``jumping'' motion. This fudge factor is used to scale this excess force. It should have a value between zero and one (the default value). If the jumping motion is too visible in a joint, the value can be reduced. Making this value too small can prevent the motor from being able to move the joint away from a stop.

HiStop

High stop angle or position. Setting this to Infinity (the default value) turns off the high stop. For rotational joints, this stop must be less than pi to be effective. If the high stop is less than the low stop then both stops will be ineffective.

LoStop

Low stop angle or position. Setting this to -Infinity (the default value) turns off the low stop. For rotational joints, this stop must be greater than -pi to be effective.

StopCFM

The constraint force mixing (CFM) value used by the stops. Together with the ERP value this can be used to get spongy or soft stops. Note that this is intended for unpowered joints, it does not really work as expected when a powered joint reaches its limit.

StopERP

The error reduction parameter (ERP) used by the stops.

SuspensionCFM

Suspension constraint force mixing (CFM) value. Currently this is only implemented on the hinge-2 joint.

SuspensionERP

Suspension error reduction parameter (ERP). Currently this is only implemented on the hinge-2 joint.

Vel

Desired motor velocity (this will be an angular or linear velocity).