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Joint Definition †
Rotational axis of joint is:
- y axis : vertical direction (upper is positive)
- x axis : crosswise direction (left is positive)
- z axis : front‐back direction (front is positive)
from the viewpoint of avator.
The link name is used when the camera is attached to agents.
Humanoid Models (Robot-nii.xml,Man-nii.xml) †
Joint name | Y axis | X axis | Z axis | Link Name |
Neck | HEAD_JOINT0 | HEAD_JOINT1 | - | HEAD_LINK |
Left shoulder | LARM_JOINT0 | LARM_JOINT1 | LARM_JOINT2 | LARM_LINK2 |
Left elbow | LARM_JOINT3 | LARM_JOINT4 | - | LARM_LINK4 |
Left wrist | LARM_JOINT5 | LARM_JOINT6 | LARM_JOINT7 | LARM_LINK7 |
Right shoulder | RARM_JOINT0 | RARM_JOINT1 | RARM_JOINT2 | RARM_LINK2 |
Right elbow | RARM_JOINT3 | RARM_JOINT4 | - | RARM_LINK4 |
Right wrist | RARM_JOINT5 | RARM_JOINT6 | RARM_JOINT7 | RARM_LINK7 |
Waist | WAIST_JOINT0 | WAIST_JOINT1 | WAIST_JOINT2 | WAIST_LINK2(body) |
Body | ROOT_JOINT0 | ROOT_JOINT1 | ROOT_JOINT2 | WAIST_LINK0(hip) |
Left Hip | - | LLEG_JOINT2 | - | LLEG_LINK2 |
Left knee | - | LLEG_JOINT4 | - | LLEG_LINK4 |
Left ankle | - | LLEG_JOINT6 | - | LLEG_LINK6 |
Right Hip | - | RLEG_JOINT2 | - | RLEG_LINK2 |
Right knee | - | RLEG_JOINT4 | - | RLEG_LINK4 |
Right ankle | - | RLEG_JOINT6 | - | RLEG_LINK6 |
Left eye(human only) | LEYE_JOINT1 | LEYE_JOINT0 | - | LEYE_LINK |
Right eye(human only) | REYE_JOINT1 | REYE_JOINT0 | - | REYE_LINK |
Wheel-based humanoid robot (WheelRobot-nii-v1.xml) †
Joint name \ Joint axis | Y-axis(0,1,0) | X-axis(1,0,0) | Z-axis(0,0,1) | (1,0,1) | (1,0,-1) | | Link |
Neck | HEAD_JOINT0 | HEAD_JOINT1 | - | - | - | | HEAD_LINK |
Left shoulder | LARM_JOINT0 | LARM_JOINT1 | - | - | - | | LARM_LINK2 |
Left elbow | LARM_JOINT3 | LARM_JOINT4 | - | - | - | | LARM_LINK4 |
Left wrist | LARM_JOINT5 | LARM_JOINT6 | LARM_JOINT7 | - | - | | LARM_LINK7 |
Right shoulder | RARM_JOINT0 | RARM_JOINT1 | - | - | - | | RARM_LINK2 |
Right elbow | RARM_JOINT3 | RARM_JOINT4 | - | - | - | | RARM_LINK4 |
Right wrist | RARM_JOINT5 | RARM_JOINT6 | RARM_JOINT7 | - | - | | RARM_LINK7 |
Body | WAIST_JOINT0 | WAIST_JOINT1 | WAIST_JOINT2 | - | - | | WAIST_LINK2 |
Pole | - | - | - | - | - | | WAIST_LINK1 |
Foundation | ROOT_JOINT0 | ROOT_JOINT1 | ROOT_JOINT2 | - | - | | WAIST_LINK0 |
Left eye | - | - | - | - | - | | LEYE_LINK |
Right eye | - | - | - | - | - | | REYE_LINK |
Left front wheel | - | - | - | LFWHEEL_JOINT0 | - | | LFWHEEL_LINK0 |
Left back wheel | - | - | - | - | LBWHEEL_JOINT0 | | LBWHEEL_LINK0 |
Right front wheel | - | - | - | - | RFWHEEL_JOINT0 | | RFWHEEL_LINK0 |
Right back wheel | - | - | - | RBWHEEL_JOINT0 | - | | RBWHEEL_LINK0 |
Joint †
Link †
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