A Model Overview

Model Name

A

Degrees of Freedom (DOF)

Total DOF: 24

Joint Names

A 모델의 각 관절 이름은 다음과 같다:

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
haed_0
`head_1'

Mobility Indexes

모빌리티와 관련된 관절의 인덱스는 다음과 같다:

Right Wheel Index: 0
Left Wheel Index: 1

Body Indexes

바디 파트와 관련된 인덱스는 다음과 같다:

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: 22, 23

Dynamics

Control Period

Control Period: 0.002 seconds

Robot Type

Dynamic Robot Type: rb::dyn::MobileManipulatorRobot<kRobotDOF>

State Type

Dynamic Robot State Type: rb::dyn::State<kRobotDOF>