Joint定義一覧
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[[Tutorial]]
*Joint定義一覧 [#se03b132]
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...
ジョイント名の最後に付けられた数字が小さいジョイント程親...
子ジョイントは親ジョイントの回転により回転軸の座標変換を...
Jointには必ずLinkが付随します。Link名はエージェントにカメ...
**人型サンプルモデル（Robot-nii.xml,Man-nii.xml) [#uab62e...
|関節の部位|Joint（Y軸）|Joint（X軸）|Joint（Z軸）|Link名|
|首|HEAD_JOINT0|HEAD_JOINT1|-|HEAD_LINK|
|左肩|LARM_JOINT0|LARM_JOINT1|LARM_JOINT2|LARM_LINK2|
|左肘|LARM_JOINT3|LARM_JOINT4|-|LARM_LINK4|
|左手首|LARM_JOINT5|LARM_JOINT6|LARM_JOINT7|LARM_LINK7|
|右肩|RARM_JOINT0|RARM_JOINT1|RARM_JOINT2|RARM_LINK2|
|右肘|RARM_JOINT3|RARM_JOINT4|-|RARM_LINK4|
|右手首|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|RARM_LINK7|
|腰|WAIST_JOINT0|WAIST_JOINT1|WAIST_JOINT2|WAIST_LINK2(bo...
|体全体|ROOT_JOINT0|ROOT_JOINT1|ROOT_JOINT2|WAIST_LINK0(h...
|左脚の付け根|-|LLEG_JOINT2|-|LLEG_LINK2|
|左膝|-|LLEG_JOINT4|-|LLEG_LINK4|
|左足首|-|LLEG_JOINT6|-|LLEG_LINK6|
|右脚の付け根|-|RLEG_JOINT2|-|RLEG_LINK2|
|右膝|-|RLEG_JOINT4|-|RLEG_LINK4|
|右足首|-|RLEG_JOINT6|-|RLEG_LINK6|
|左目(人間のみ)|LEYE_JOINT1|LEYE_JOINT0|-|LEYE_LINK|
|右目(人間のみ)|REYE_JOINT1|REYE_JOINT0|-|REYE_LINK|
**車輪移動ロボット(WheelRobot-nii-v1.xml) [#a7fd3bee]
|Joint name \ Joint axis|Y-axis(0,1,0)|X-axis(1,0,0)|Z-ax...
|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...
|Right shoulder|RARM_JOINT0|RARM_JOINT1|-|-|-||RARM_LINK2|
|Right elbow|RARM_JOINT3|RARM_JOINT4|-|-|-||RARM_LINK4|
|Right wrist|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|-|-||RAR...
|Body|WAIST_JOINT0|WAIST_JOINT1|WAIST_JOINT2|-|-||WAIST_L...
|Pole|-|-|-|-|-||WAIST_LINK1|
|Foundation|ROOT_JOINT0|ROOT_JOINT1|ROOT_JOINT2|-|-||WAIS...
|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)
...
*更新履歴 [#m1fa3013]
-[[Joint定義一覧(v120330, v1.4.8)]]
-[[Joint定義一覧(v120105)]]
#counter
End:
[[Tutorial]]
*Joint定義一覧 [#se03b132]
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...
ジョイント名の最後に付けられた数字が小さいジョイント程親...
子ジョイントは親ジョイントの回転により回転軸の座標変換を...
Jointには必ずLinkが付随します。Link名はエージェントにカメ...
**人型サンプルモデル（Robot-nii.xml,Man-nii.xml) [#uab62e...
|関節の部位|Joint（Y軸）|Joint（X軸）|Joint（Z軸）|Link名|
|首|HEAD_JOINT0|HEAD_JOINT1|-|HEAD_LINK|
|左肩|LARM_JOINT0|LARM_JOINT1|LARM_JOINT2|LARM_LINK2|
|左肘|LARM_JOINT3|LARM_JOINT4|-|LARM_LINK4|
|左手首|LARM_JOINT5|LARM_JOINT6|LARM_JOINT7|LARM_LINK7|
|右肩|RARM_JOINT0|RARM_JOINT1|RARM_JOINT2|RARM_LINK2|
|右肘|RARM_JOINT3|RARM_JOINT4|-|RARM_LINK4|
|右手首|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|RARM_LINK7|
|腰|WAIST_JOINT0|WAIST_JOINT1|WAIST_JOINT2|WAIST_LINK2(bo...
|体全体|ROOT_JOINT0|ROOT_JOINT1|ROOT_JOINT2|WAIST_LINK0(h...
|左脚の付け根|-|LLEG_JOINT2|-|LLEG_LINK2|
|左膝|-|LLEG_JOINT4|-|LLEG_LINK4|
|左足首|-|LLEG_JOINT6|-|LLEG_LINK6|
|右脚の付け根|-|RLEG_JOINT2|-|RLEG_LINK2|
|右膝|-|RLEG_JOINT4|-|RLEG_LINK4|
|右足首|-|RLEG_JOINT6|-|RLEG_LINK6|
|左目(人間のみ)|LEYE_JOINT1|LEYE_JOINT0|-|LEYE_LINK|
|右目(人間のみ)|REYE_JOINT1|REYE_JOINT0|-|REYE_LINK|
**車輪移動ロボット(WheelRobot-nii-v1.xml) [#a7fd3bee]
|Joint name \ Joint axis|Y-axis(0,1,0)|X-axis(1,0,0)|Z-ax...
|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...
|Right shoulder|RARM_JOINT0|RARM_JOINT1|-|-|-||RARM_LINK2|
|Right elbow|RARM_JOINT3|RARM_JOINT4|-|-|-||RARM_LINK4|
|Right wrist|RARM_JOINT5|RARM_JOINT6|RARM_JOINT7|-|-||RAR...
|Body|WAIST_JOINT0|WAIST_JOINT1|WAIST_JOINT2|-|-||WAIST_L...
|Pole|-|-|-|-|-||WAIST_LINK1|
|Foundation|ROOT_JOINT0|ROOT_JOINT1|ROOT_JOINT2|-|-||WAIS...
|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)
...
*更新履歴 [#m1fa3013]
-[[Joint定義一覧(v120330, v1.4.8)]]
-[[Joint定義一覧(v120105)]]
#counter
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