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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 nameY axisX axisZ axisLink Name
NeckHEAD_JOINT0HEAD_JOINT1-HEAD_LINK
Left shoulderLARM_JOINT0LARM_JOINT1LARM_JOINT2LARM_LINK2
Left elbowLARM_JOINT3LARM_JOINT4-LARM_LINK4
Left wristLARM_JOINT5LARM_JOINT6LARM_JOINT7LARM_LINK7
Right shoulderRARM_JOINT0RARM_JOINT1RARM_JOINT2RARM_LINK2
Right elbowRARM_JOINT3RARM_JOINT4-RARM_LINK4
Right wristRARM_JOINT5RARM_JOINT6RARM_JOINT7RARM_LINK7
WaistWAIST_JOINT0WAIST_JOINT1WAIST_JOINT2WAIST_LINK2(body)
BodyROOT_JOINT0ROOT_JOINT1ROOT_JOINT2WAIST_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_JOINT1LEYE_JOINT0-LEYE_LINK
Right eye(human only)REYE_JOINT1REYE_JOINT0-REYE_LINK

Wheel-based humanoid robot (WheelRobot-nii-v1.xml)

   

Joint name \ Joint axisY-axis(0,1,0)X-axis(1,0,0)Z-axis(0,0,1)(1,0,1)(1,0,-1)Link
NeckHEAD_JOINT0HEAD_JOINT1---HEAD_LINK
Left shoulderLARM_JOINT0LARM_JOINT1---LARM_LINK2
Left elbowLARM_JOINT3LARM_JOINT4---LARM_LINK4
Left wristLARM_JOINT5LARM_JOINT6LARM_JOINT7--LARM_LINK7
Right shoulderRARM_JOINT0RARM_JOINT1---RARM_LINK2
Right elbowRARM_JOINT3RARM_JOINT4---RARM_LINK4
Right wristRARM_JOINT5RARM_JOINT6RARM_JOINT7--RARM_LINK7
BodyWAIST_JOINT0WAIST_JOINT1WAIST_JOINT2--WAIST_LINK2
Pole-----WAIST_LINK1
FoundationROOT_JOINT0ROOT_JOINT1ROOT_JOINT2--WAIST_LINK0
Left eye-----LEYE_LINK
Right eye-----REYE_LINK
Left front wheel---LFWHEEL_JOINT0-LFWHEEL_LINK0
Left back wheel----LBWHEEL_JOINT0LBWHEEL_LINK0
Right front wheel----RFWHEEL_JOINT0RFWHEEL_LINK0
Right back wheel---RBWHEEL_JOINT0-RBWHEEL_LINK0

Joint

wheel_robot_joint.png

Link

wheel_robot_link.png
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Attach file: filewheel_robot_link.png 1101 download [Information] filewheel_robot_joint.png 1094 download [Information]

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Last-modified: 2015-07-28 (Tue) 14:58:45 (726d)