Legend
This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.
The Center of Mass position and the Inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).
All solids (S) and local coordinate system are described relative to the zero posture: standing with straight legs and arms pointing forwards.
Arms
Right Shoulder
(o, R) is located on the joint: RShoulderPitch.
Left Shoulder
(o, R) is located on the joint: LShoulderPitch.
Right Bicep
(o, R) is located on the joint: RShoulderRoll.
Left Bicep
(o, R) is located on the joint: LShoulderRoll.
Right Elbow
(o, R) is located on the joint: RElbowYaw.
Left Elbow
(o, R) is located on the joint: LElbowYaw.
Right Motorized ForeArm
(o, R) is located on the joint: RElbowRoll.
Left Motorized ForeArm
(o, R) is located on the joint: LElbowRoll.
Legs
Right Pelvis
(o, R) is located on the joint: RHipYawPitch.
Left Pelvis
(o, R) is located on the joint: LHipYawPitch.
Right Hip
(o, R) is located on the joint: RHipRoll.
Left Hip
(o, R) is located on the joint: LHipRoll.
Right Thigh
(o, R) is located on the joint: RHipPitch.
Left Thigh
(o, R) is located on the joint: LHipPitch.
Right Tibia
(o, R) is located on the joint: RKneePitch.
Left Tibia
(o, R) is located on the joint: LKneePitch.
Right Ankle
(o, R) is located on the joint: RAnklePitch.
Left Ankle
(o, R) is located on the joint: LAnklePitch.