Links are defined using:
Axis definition
The X axis is positive toward NAO’s front, the Y from right to left and the Z is vertical.
From ... | To ... | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|---|
Torso | HeadYaw | 0.00 | 0.00 | 126.50 |
HeadYaw | HeadPitch | 0.00 | 0.00 | 0.00 |
Main length (mm) | |
---|---|
NeckOffsetZ | 126.50 |
From ... | To ... | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|---|
Torso | LShoulderPitch | 0.00 | 98.00 | 100.00 |
LShoulderPitch | LShoulderRoll | 0.00 | 0.00 | 0.00 |
LShoulderRoll | LElbowYaw | 105.00 | 15.00 | 0.00 |
LElbowYaw | LElbowRoll | 0.00 | 0.00 | 0.00 |
LElbowRoll | LWristYaw | 55.95 | 0.00 | 0.00 |
Main length (mm) | |
---|---|
ShoulderOffsetY | 98.00 |
ElbowOffsetY | 15.00 |
UpperArmLength | 105.00 |
LowerArmLength | 55.95 |
ShoulderOffsetZ | 100.00 |
HandOffsetX | 57.75 |
HandOffsetZ | 12.31 |
Left
From ... | To ... | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|---|
LWristYaw | LFinger11 | 69.07 | 11.57 | -3.04 |
LFinger11 | LFinger12 | 14.36 | 0.00 | 0.00 |
LFinger12 | LFinger13 | 14.36 | 0.00 | 0.00 |
LWristYaw | LFinger21 | 69.07 | -11.57 | -3.04 |
LFinger21 | LFinger22 | 14.36 | 0.00 | 0.00 |
LFinger22 | LFinger23 | 14.36 | 0.00 | 0.00 |
LWristYaw | LThumb1 | 48.95 | 0.00 | -26.38 |
LThumb1 | LThumb2 | 14.36 | 0.00 | 0.00 |
Right
From ... | To ... | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|---|
RWristYaw | RFinger11 | 69.07 | 11.57 | -3.04 |
RFinger11 | RFinger12 | 14.36 | 0.00 | 0.00 |
RFinger12 | RFinger13 | 14.36 | 0.00 | 0.00 |
RWristYaw | RFinger21 | 69.07 | -11.57 | -3.04 |
RFinger21 | RFinger22 | 14.36 | 0.00 | 0.00 |
RFinger22 | RFinger23 | 14.36 | 0.00 | 0.00 |
RWristYaw | RThumb1 | 48.95 | 0.00 | -26.38 |
RThumb1 | RThumb2 | 14.36 | 0.00 | 0.00 |
Angles
Angle between two phalanges: 57.29 degrees
Left
“LFinger11”: RotX(10.0)
“LFinger21”: RotX(-10.0)
“LThumb1”: RotX(180.0)*RotY(-60.0)
Right
“RFinger11”: RotX(10.0)
“RFinger21”: RotX(-10.0)
“RThumb1”: RotX(180.0)*RotY(-60.0)
From ... | To ... | X (mm) | Y (mm) | Z (mm) |
---|---|---|---|---|
Torso | LHipYawPitch | 0.00 | 50.00 | -85.00 |
LHipYawPitch | LHipRoll | 0.00 | 0.00 | 0.00 |
LHipRoll | LHipPitch | 0.00 | 0.00 | 0.00 |
LHipPitch | LKneePitch | 0.00 | 0.00 | -100.00 |
LKneePitch | LAnklePitch | 0.00 | 0.00 | -102.90 |
LAnklePitch | LAnkleRoll | 0.00 | 0.00 | 0.00 |
Main length (mm) | |
---|---|
HipOffsetZ | 85.00 |
HipOffsetY | 50.00 |
ThighLength | 100.00 |
TibiaLength | 102.90 |
FootHeight | 45.19 |