Up:[[Tutorial]] ---- #contents *Joint Definition [#zaedfa1d] 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|-|-|-||RAMR_LINK4| |Right wrist|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|-|-||RAMR_LINK7| |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