Body frames
All solids (S) and local coordinate system are described relative to the zero posture: with straight arms pointing forwards.
Torso
(o, R) is located on: Torso.
Neck
(o, R) is located on the joint: HeadYaw.
Head
(o, R) is located on the joint: HeadPitch.
Left Shoulder
(o, R) is located on the joint: LShoulderPitch.
Left Biceps
(o, R) is located on the joint: LShoulderRoll.
Left Elbow
(o, R) is located on the joint: LElbowYaw.
Left ForeArm
(o, R) is located on the joint: LElbowRoll.
Left Hand
(o, R) is located on the joint: LWristYaw.
Left Pelvis
(o, R) is located on the joint: LHipYawPitch.
Left Hip
(o, R) is located on the joint: LHipRoll.
Left Thigh
(o, R) is located on the joint: LHipPitch.
Left Tibia
(o, R) is located on the joint: LKneePitch.
Left Ankle
(o, R) is located on the joint: LAnklePitch.
Right Shoulder
(o, R) is located on the joint: RShoulderPitch.
Right Biceps
(o, R) is located on the joint: RShoulderRoll.
Right Elbow
(o, R) is located on the joint: RElbowYaw.
Right ForeArm
(o, R) is located on the joint: RElbowRoll.
Right Hand
(o, R) is located on the joint: RWristYaw.
Right Pelvis
(o, R) is located on the joint: RHipYawPitch.
Right Hip
(o, R) is located on the joint: RHipRoll.
Right Thigh
(o, R) is located on the joint: RHipPitch.
Right Tibia
(o, R) is located on the joint: RKneePitch.
Right Ankle
(o, R) is located on the joint: RAnklePitch.
