# Conventions

Lets start with our used conventions across bysense!

## Required Devices

* Laptop, Computer which runs your OS. For C++ we recommend Linux
* Ethernet cable or a Router
* Optionally a debug cage depending on low level development

## Core Frame Conventions

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXfgGFKEpPMr6XG8YsUyyLknfyv1DKPLvkQ2Adild3Q0imYk8GHwBApjgI0_tZ-f53d_CPivW0wF8fHQ4mC1JOciYL87rTr_79MNKgKNAU0-FaKA2q9woy_Pf5QFjf2-ORWus-yP8pUqlxRGj10aNbEtaqM?key=dxKxqxOfDeem6LZsmsKuKA" alt="" width="375"><figcaption></figcaption></figure>

## Leg Side Conventions

<table><thead><tr><th>Full Name</th><th>Short</th><th data-hidden></th></tr></thead><tbody><tr><td>Front-Right</td><td><mark style="color:blue;">FR</mark></td><td></td></tr><tr><td>Front-Left</td><td><mark style="color:blue;">FL</mark></td><td></td></tr><tr><td>Hind-Right</td><td><mark style="color:green;">HR</mark></td><td></td></tr><tr><td>Hind-Left</td><td><mark style="color:green;">HL</mark></td><td></td></tr></tbody></table>

## Axis Names

| Full Name | Short                   |
| --------- | ----------------------- |
| HAA       | hip abduction/adduction |
| HFE       | hip flexion extension   |
| KFE       | knee flexion/extension  |

## Leg Axis IDs<br>

| Full Name                                            | ID |
| ---------------------------------------------------- | -- |
| <mark style="background-color:blue;">FL-HAA</mark>   | 1  |
| <mark style="background-color:blue;">FL-HFE</mark>   | 2  |
| <mark style="background-color:blue;">FL-KFE</mark>   | 3  |
| <mark style="background-color:purple;">FR-HAA</mark> | 4  |
| <mark style="background-color:purple;">FR-HFE</mark> | 5  |
| <mark style="background-color:purple;">FR-KFE</mark> | 6  |
| <mark style="background-color:red;">HR-HAA</mark>    | 7  |
| <mark style="background-color:red;">HR-HFE</mark>    | 8  |
| <mark style="background-color:red;">HR-KFE</mark>    | 9  |
| <mark style="background-color:green;">HL-HAA</mark>  | 10 |
| <mark style="background-color:green;">HL-HFE</mark>  | 11 |
| <mark style="background-color:green;">HL-KFE</mark>  | 12 |

<figure><img src="/files/6S3uxIvauoFwuQctaNdj" alt=""><figcaption></figcaption></figure>

## Dimensions

Within this page you will find the overview for all used Dimensions within the SDK<br>

| Description | Dimension  |
| ----------- | ---------- |
| length      | m          |
| velocity    | rad/s      |
| position    | rad or deg |
| torque      | Nm         |

## Link Names

The links describe the physical parts between the axis and are named like following:

<figure><img src="/files/75o1O8vJKY3dRAUsJt3I" alt=""><figcaption></figcaption></figure>

## Joint Ranges

All axis have a mechanical limit. Those limits are within the software embeded. In case of a uncontrolled fall down scenario the limits are there to prevent any damange on the cables between the axis.

### HAA Link range

HAA is limited by the U-shaped bumper which is at the same the carrier for the front and back payload and supports the wiring for it. Currently the max range is aroun 60 degree on all sides.

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXdcdItpWcCnUrxcAL9OUGH-lGvkcD0lczranEre_wy6AIkniGpT6dCEm3yfJ7OkhsVNA9IFcmltLZZ-oV_cl8RrchhqFBTe-pNOvWCqlkEnzOurm8r4GP5AKMpHtI_iTGAVYAyEt_HHbHjE_PmfCB_kiPuJ?key=uqd7CQzygHX4REyQNvsHfA" alt="" width="375"><figcaption></figcaption></figure>

### KFE and HFE range

The KFE axis is limited by the upper link of the leg. Currently it has 130 degree of freedom. The HFE axis is made to be folded at the back. During operation of the robot we have 150 degree of freedom for that axis.

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXcSjY3FAuNXfvVMmdzlvZeQtd-m_LkVEtdgkVzoNONbV1DQEF-cU5znbXzA1q_6q6GRkGHFK3G3sgDnJdQpKQI69xVHkjI1-xF_Vpr_Z9JYhrpGlboGtrOD89hWAr6XFZhY-5NwIeqP1AVS8810LwY82ZBQ?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

## Link Dimensions

See in the following the Link dimensions for the use case of a inverse kinematic:

<figure><img src="/files/wgzeeoEqxbEiSyF8G39D" alt=""><figcaption></figcaption></figure>


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