Effector & Chain definitions

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

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)

To see the position of Effectors, see: Links.

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
		LWristYaw	LAnklePitch	RAnklePitch	RWristYaw
		LHand	RAnkleRoll	LAnkleRoll	RHand

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.

The group “Body” addresses all the joints of the robot.

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.

Joint range and direction

• Head joints
• Left Arm joints, Right Arm joints
• Pelvis joints
• Left Leg joints, Right Leg joints

For further details, see: “Body”, chains and joint names.