Effector & Chain definitions


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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

Effectors

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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.

Chains

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

involves the

joints ...

HeadYaw LShoulderPitch LHipYawPitch1 RHipYawPitch1 RShoulderPitch
HeadPitch LShoulderRoll LHipRoll RHipRoll RShoulderRoll
  LElbowYaw LHipPitch RHipPitch RElbowYaw
  LElbowRoll LKneePitch RKneePitch RElbowRoll
  LWristYaw2 LAnklePitch RAnklePitch RWristYaw2
  LHand2 RAnkleRoll LAnkleRoll RHand2

Note

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).

It is possible to get the list of joints available on your robot using the ALMotionProxy::getBodyNames() method, described in the section: Case 2: Programmatic access to Joint Names.