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:
right_wheel
left_wheel
torso_0
torso_1
torso_2
torso_3
torso_4
torso_5
right_arm_0
right_arm_1
right_arm_2
right_arm_3
right_arm_4
right_arm_5
right_arm_6
left_arm_0
left_arm_1
left_arm_2
left_arm_3
left_arm_4
left_arm_5
left_arm_6
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