A Model Overview

💡 Note: The most accurate information regarding the model can be found in the URDF files under the models directory of the Rainbow Robotics SDK repository. It is highly recommended to refer to this source for the latest updates and details.

Model Name

A

Degrees of Freedom (DOF)

• Total DOF: 24

Joint Names

The joint names of the A model are as follows:

• Wheels: right_wheel, left_wheel
• Torso: torso_0, torso_1, torso_2, torso_3, torso_4, torso_5
• Right Arm: right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6
• Left Arm: left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6
• Head: head_0, head_1

Mobility Indexes

The indexes related to mobility are as follows:

• Right Wheel Index: 0
• Left Wheel Index: 1

Body Indexes

The indexes related to the body parts are as follows:

• Torso Indexes: 2, 3, 4, 5, 6, 7
• Right Arm Indexes: 8, 9, 10, 11, 12, 13, 14
• Left Arm Indexes: 15, 16, 17, 18, 19, 20, 21

Head Indexes

The indexes related to the head parts are as follows:

• Head Indexes: 22, 23