Motion range
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
Anti collision limitation
Due to potential shell collision at the head level, the Pitch motion range is limited according to the Yaw value.
HeadYaw | HeadPitch Min | HeadPitch Max | HeadYaw | HeadPitch Min | HeadPitch Max | |
---|---|---|---|---|---|---|
(degrees) | (radians) | |||||
-119.52 | -25.73 | 18.91 | -2.086017 | -0.449073 | 0.330041 | |
-87.49 | -18.91 | 11.46 | -1.526988 | -0.330041 | 0.200015 | |
-62.45 | -24.64 | 17.19 | -1.089958 | -0.430049 | 0.300022 | |
-51.74 | -27.50 | 18.91 | -0.903033 | -0.479965 | 0.330041 | |
-43.32 | -31.40 | 21.20 | -0.756077 | -0.548033 | 0.370010 | |
-27.85 | -38.50 | 24.18 | -0.486074 | -0.671951 | 0.422021 | |
0.0 | -38.50 | 29.51 | 0.000000 | -0.671951 | 0.515047 | |
27.85 | -38.50 | 24.18 | 0.486074 | -0.671951 | 0.422021 | |
43.32 | -31.40 | 21.20 | 0.756077 | -0.548033 | 0.370010 | |
51.74 | -27.50 | 18.91 | 0.903033 | -0.479965 | 0.330041 | |
62.45 | -24.64 | 17.19 | 1.089958 | -0.430049 | 0.300022 | |
87.49 | -18.91 | 11.46 | 1.526988 | -0.330041 | 0.200015 | |
119.52 | -25.73 | 18.91 | 2.086017 | -0.449073 | 0.330041 |
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) | 0.5 to 94.5 | 0.0087 to 1.6494 |
LElbowYaw | Left shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
LElbowRoll | Left elbow joint (Z) | -89.5 to -0.5 | -1.5621 to -0.0087 |
LWristYaw | Left wrist joint (X) | -104.5 to 104.5 | -1.8238 to 1.8238 |
LHand | Left hand | 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
Device/SubDeviceList/LWristYaw/Position/Actuator/Value
Device/SubDeviceList/LHand/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/LElbowYaw/Position/Sensor/Value
Device/SubDeviceList/LWristYaw/Position/Sensor/Value
Device/SubDeviceList/LHand/Position/Sensor/Value
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) | -94.5 to -0.5 | -1.6494 to -0.0087 |
RElbowYaw | Right shoulder joint twist (X) | -119.5 to 119.5 | -2.0857 to 2.0857 |
RElbowRoll | Right elbow joint (Z) | 0.5 to 89.5 | 0.0087 to 1.5621 |
RWristYaw | Right wrist joint (X) | -104.5 to 104.5 | -1.8238 to 1.8238 |
RHand | Right hand | 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
Device/SubDeviceList/RWristYaw/Position/Actuator/Value
Device/SubDeviceList/RHand/Position/Actuator/Value
Sensor(radians):
Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value
Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value
Device/SubDeviceList/RElbowYaw/Position/Sensor/Value
Device/SubDeviceList/RWristYaw/Position/Sensor/Value
Device/SubDeviceList/RHand/Position/Sensor/Value