2000: int parameter : dynamic motor enable state (0 or !=0)
2001: int parameter : dynamic motor position control enable state (0 or !=0)
2002: float parameter : dynamic motor position control P parameter
2003: float parameter : dynamic motor position control I parameter
2004: float parameter : dynamic motor position control D parameter
2005: float parameter (can only be read) : joint transformation, position X
2006: float parameter (can only be read) : joint transformation, position Y
2007: float parameter (can only be read) : joint transformation, position Z
2008: float parameter (can only be read) : joint transformation, quaternion X
2009: float parameter (can only be read) : joint transformation, quaternion Y
2010: float parameter (can only be read) : joint transformation, quaternion Z
2011: float parameter (can only be read) : joint transformation, quaternion W
2012: float parameter (can only be read) : joint velocity. This is a calculated value.
2013: float parameter (can only be written) : spherical joint quaternion (X part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2014: float parameter (can only be written) : spherical joint quaternion (Y part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2015: float parameter (can only be written) : spherical joint quaternion (Z part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2016: float parameter (can only be written) : spherical joint quaternion (W part). Writes a quaternion using also buffered values (see parameters 2013-2015)
More parameters you wish to adjust from the API? Ask us to add them for a future release!
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