Effector & Chain definitions ¶
This overview points out the relationship between the different names and specifies which model includes which joint:
- Body = all Joints + the 2 Actuators added at the end of the arm links
- Chain = Joints + Actuators
- Effectors = all Chain names + Torso
These Effector names are identical to the Chain name except for “Torso”.
|Effector name||Position||End transform|
|“Head”||At the neck joint||Position3D(0.0, 0.0, 0.0)|
|“LArm”||Inside the hand||Position3D(HandOffsetX, 0.0, -HandOffsetZ)|
|“LLeg”||Below the ankle||Position3D(0.0, 0.0, -FootHeight)|
|“RLeg”||Below the ankle||Position3D(0.0, 0.0, -FootHeight)|
|“RArm”||Inside the hand||Position3D(HandOffsetX, 0.0, -HandOffsetZ)|
|“Torso”||A reference point in the torso||Position3D(0.0, 0.0, 0.0)|
All the points are defined in relation of the Torso position and depend of your NAO - Version.
To see the position of Effectors, see:
For further details, see: Effectors.
The table below lists the chains and all the joints included in each chain:
|Body is ...||Head + LArm + LLeg + RLeg + RArm|
|The chain ...||Head||LArm||LLeg||RLeg||RArm|
1 LHipYawPitch and RHipYawPitch share the same motor so they move simultaneously and symmetrically. In case of conflicting orders, LHipYawPitch always takes the priority.
2 These joints do not exist in the NAO - Body type “H21”.
The group “Body” addresses all the joints of the robot (the number of joints depends on your NAO - Body type).
Joint range and direction ¶
Depends of your NAO - Version, you could access to the joint range and direction by following the link below:
For further details, see: “Body”, chains and joint names.