H21 - Joints¶
Head joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| HeadYaw | Head joint twist (Z) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| HeadPitch | Head joint front and back (Y) | -38.5 to 29.5 | -0.6720 to 0.5149 |
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/HeadPitch/Position/Actuator/Value
Device/SubDeviceList/HeadYaw/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/HeadPitch/Position/Sensor/Value
Device/SubDeviceList/HeadYaw/Position/Sensor/Value
Due to collision with NAO shell, the head yaw and pitch are limited.
| HeadYaw (°) | HeadPitch - (°) | HeadPitch + (°) |
|---|---|---|
| -119.52 | -25.73 | 18.91 |
| -87.49 | -18.91 | 11.46 |
| -62.45 | -24.64 | 17.19 |
| -51.74 | -27.50 | 18.91 |
| -43.32 | -31.40 | 21.20 |
| -27.85 | -38.50 | 24.18 |
| 0.0 | -38.50 | 29.51 |
| 27.85 | -38.50 | 24.18 |
| 43.32 | -31.40 | 21.20 |
| 51.74 | -27.50 | 18.91 |
| 62.45 | -24.64 | 17.19 |
| 87.49 | -18.91 | 11.46 |
| 119.52 | -25.73 | 18.91 |
Left Arm joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| LShoulderPitch | Left shoulder joint front and back (Y) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| LShoulderRoll | Left shoulder joint right and left (Z) | -18 to 76 | -0.3142 to 1.3265 |
| LElbowYaw | Left shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| LElbowRoll | Left elbow joint (Z) | -88.5 to -2 | 1.5446 to 0.0349 |
| LWristYaw | to delete | -104.5 to 104.5 | -1.8238 to 1.8238 |
| LHand | to delete | Open and Close | Open and Close |
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/LShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/LElbowYaw/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/LElbowYaw/Position/Sensor/Value
Right Arm joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| RShoulderPitch | Right shoulder joint front and back (Y) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| RShoulderRoll | Right shoulder joint right and left (Z) | -76 to 18 | -1.3265 to 0.3142 |
| RElbowYaw | Right shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
| RElbowRoll | Right elbow joint (Z) | 2 to 88.5 | 0.0349 to 1.5446 |
| RWristYaw | to delete | -104.5 to 104.5 | -1.8238 to 1.8238 |
| RHand | to delete | Open and Close | Open and Close |
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/RShoulderPitch/Position/Actuator/Value
Device/SubDeviceList/RShoulderRoll/Position/Actuator/Value
Device/SubDeviceList/RElbowYaw/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/RElbowYaw/Position/Sensor/Value
Pelvis joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| LHipYawPitch* | Left hip joint twist (Y-Z 45°) | -65.62 to 42.44 | -1.145303 to 0.740810 |
| RHipYawPitch* | Right hip joint twist (Y-Z 45°) | -65.62 to 42.44 | -1.145303 to 0.740810 |
Note
LHipYawPitch and RHipYawPitch are physically just one motor so they cannot be controlled independently.
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/LHipYawPitch/Position/Actuator/Value
Device/SubDeviceList/RHipYawPitch/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/LHipYawPitch/Position/Sensor/Value
Device/SubDeviceList/RHipYawPitch/Position/Sensor/Value
Left Leg joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| LHipRoll | Left hip joint right and left (X) | -21.74 to 45.29 | -0.379472 to 0.790477 |
| LHipPitch | Left hip joint front and back (Y) | -101.63 to 27.73 | -1.773912 to 0.484090 |
| LKneePitch | Left knee joint (Y) | -5.29 to 121.04 | -0.092346 to 2.112528 |
| LAnklePitch | Left ankle joint front and back (Y) | -68.15 to 52.86 | -1.189516 to 0.922747 |
| LAnkleRoll | Left ankle joint right and left (X) | -22.79 to 44.06 | -0.397880 to 0.769001 |
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/LHipRoll/Position/Actuator/Value
Device/SubDeviceList/LHipPitch/Position/Actuator/Value
Device/SubDeviceList/LKneePitch/Position/Actuator/Value
Device/SubDeviceList/LAnklePitch/Position/Actuator/Value
Device/SubDeviceList/LAnkleRoll/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/LHipRoll/Position/Sensor/Value
Device/SubDeviceList/LHipPitch/Position/Sensor/Value
Device/SubDeviceList/LKneePitch/Position/Sensor/Value
Device/SubDeviceList/LAnklePitch/Position/Sensor/Value
Device/SubDeviceList/LAnkleRoll/Position/Sensor/Value
Due to collision with NAO shell, the ankle pitch and roll are limited.
| LAnklePitch (°) | LAnkleRoll Min (°) | LAnkleRoll Max (°) |
|---|---|---|
| -68.15 | -2.86 | 4.30 |
| -48.13 | -10.31 | 9.74 |
| -40.11 | -22.80 | 12.61 |
| -25.78 | -22.80 | 44.06 |
| 5.73 | -22.80 | 44.06 |
| 20.05 | -22.80 | 31.54 |
| 52.87 | 0.00 | 2.86 |
Right Leg joints¶
| Joint name | Motion | Range (degrees) | Range (radians) |
|---|---|---|---|
| RHipRoll | Right hip joint right and left (X) | -42.30 to 23.76 | -0.738321 to 0.414754 |
| RHipPitch | Right hip joint front and back (Y) | -101.54 to 27.82 | -1.772308 to 0.485624 |
| RKneePitch | Right knee joint (Y) | -5.90 to 121.47 | -0.103083 to 2.120198 |
| RAnklePitch | Right ankle joint front and back (Y) | -67.97 to 53.40 | -1.186448 to 0.932056 |
| RAnkleRoll | Right ankle joint right and left (X) | -45.03 to 22.27 | -0.785875 to 0.388676 |
Access value by using ALMemory key name
Command(radians):
Device/SubDeviceList/RHipRoll/Position/Actuator/Value
Device/SubDeviceList/RHipPitch/Position/Actuator/Value
Device/SubDeviceList/RKneePitch/Position/Actuator/Value
Device/SubDeviceList/RAnklePitch/Position/Actuator/Value
Device/SubDeviceList/RAnkleRoll/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/RHipRoll/Position/Sensor/Value
Device/SubDeviceList/RHipPitch/Position/Sensor/Value
Device/SubDeviceList/RKneePitch/Position/Sensor/Value
Device/SubDeviceList/RAnklePitch/Position/Sensor/Value
Device/SubDeviceList/RAnkleRoll/Position/Sensor/Value
Due to collision with NAO shell, the ankle pitch and roll are limited.
| RAnklePitch (°) | RAnkleRoll Min (°) | RAnkleRoll Max (°) |
|---|---|---|
| -68.15 | -4.30 | 2.86 |
| -48.13 | -9.74 | 10.31 |
| -40.11 | -12.61 | 22.80 |
| -25.78 | -44.06 | 22.80 |
| 5.73 | -44.06 | 22.80 |
| 20.05 | -31.54 | 22.80 |
| 52.87 | -2.86 | 0.00 |