Backup diff of JointDefinition vs current(No. 4)

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*Joint定義一覧 [#se03b132]
ここでは人型エージェントで定義されている関節名の一覧表を紹介します。
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※Jointの回転軸はエージェントから見てY軸は上下方向（上が正）、X軸は左右方向（左が正）、Z軸は前後方向（前が正）
*Joint Definition [#zaedfa1d]

|関節の部位|Joint（Y軸）|Joint（X軸）|Joint（Z軸）|
|首|HEAD_JOINT1|HEAD_JOINT0|-|
|左肩|LARM_JOINT1|LARM_JOINT0|LARM_JOINT2|
|左肘|LARM_JOINT3|LARM_JOINT4|-|
|左手首|LARM_JOINT5|LARM_JOINT6|LARM_JOINT7|
|右肩|RARM_JOINT1|RARM_JOINT0|RARM_JOINT2|
|右肘|RARM_JOINT3|RARM_JOINT4|-|
|右手首|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|
|腰|WAST_JOINT0|WAIST_JOINT1|WAST_JOINT2|
|左脚の付け根|-|LLEG_JOINT2|-|
|左膝|-|LLEG_JOINT4|-|
|右脚の付け根|-|RLEG_JOINT2|-|
|右膝|-|RLEG_JOINT4|-|
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) [#kadcf701]



|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) [#a7fd3bee]
　　　
|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 [#ef12fcca]
#ref(wheel_robot_joint.png)

***Link [#b5fa4bec]
#ref(wheel_robot_link.png)

#counter