Joint information¶
Romeo in PoseZero¶
Head¶
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| NeckYaw | Neck joint (Z) | -90 to 90 | -1.57079632 to 1.57079632 |
| NeckPitch | Neck joint (Y) | -40 to 40 | -0.69813170 to 0.69813170 |
| HeadPitch | Head joint (Y) | -16.6 to 20 | -0.29 to 0.34906585 |
| HeadRoll | Head joint (X) | -30 to 30 | -0.52359878 to 0.52359878 |
Arms¶
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| LShoulderPitch | Left Shoulder joint (Y) | -87.0 to 120.0 | -1.51843645 to 2.09439510 |
| LShoulderYaw | Left Shoulder joint (Z) | -11.5 to 82.5 | -0.20071286 to 1.43989663 |
| LElbowRoll | Left Shoulder joint (X) | -149.0 to 80.0 | -2.60054059 to 1.39626340 |
| LElbowYaw | Left Elbow joint (Z) | -90.0 to 23.0 | -1.57079633 to 0.40142573 |
| LWristRoll | Left Elbow joint (X) | -210.0 to 30.0 | -3.66519143 to 0.52359878 |
| LWristYaw | Left Wrist joint (Y) | -28.0 to 28.0 | -0.48869219 to 0.48869219 |
| LWristPitch | Left Wrist joint (Z) | -56.0 to 56.0 | -0.97738438 to 0.97738438 |
| RShoulderPitch | Right Shoulder joint (Y) | -87.0 to 120.0 | -1.51843645 to 2.09439510 |
| RShoulderYaw | Right Shoulder joint (Z) | -82.5 to 11.5 | -1.43989663 to 0.20071286 |
| RElbowRoll | Right Shoulder joint (X) | -80.0 to 149.0 | -1.39626340 to 2.60054059 |
| RElbowYaw | Right Elbow joint (Z) | -23.0 to 90.0 | -0.40142573 to 1.57079633 |
| RWristRoll | Right Elbow joint (X) | -30.0 to 210.0 | -0.52359878 to 3.66519143 |
| RWristYaw | Right Wrist joint (Y) | -28.0 to 28.0 | -0.48869219 to 0.48869219 |
| RWristPitch | Right Wrist joint (Z) | -56.0 to 56.0 | -0.97738438 to 0.97738438 |
| TrunkYaw | Trunk Yaw joint (Z) | -45.0 to 45.0 | -0.78539816 to 0.78539816 |
Legs¶
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| LHipYaw | Left Hip joint (Z) | -15 to 15 | -0.26179939 to 0.26179939 |
| LHipRoll | Left Hip joint (X) | -15 to 30 | -0.26179939 to 0.52359878 |
| LHipPitch | Left Hip joint (Y) | -98 to 30 | -1.71042267 to 0.52359878 |
| LKneePitch | Left Knee joint (Y) | -3 to 129 | -0.05235988 to 2.25147474 |
| LAnklePitch | Left Ankle joint (Y) | -45 to 30 | -0.78539816 to 0.52359878 |
| LAnkleRoll | Left Ankle joint (X) | -20 to 20 | -0.34906585 to 0.34906585 |
| LToePitch | Left Ankle joint (Y) | -45 to 0 | -0.78539816 to 0 |
| RHipYaw | Right Hip joint (Z) | -15 to 15 | -0.26179939 to 0.26179939 |
| RHipRoll | Right Hip joint (X) | -30 to 15 | -0.52359878 to 0.26179939 |
| RHipPitch | Right Hip joint (Y) | -98 to 30 | -1.71042267 to 0.52359878 |
| RKneePitch | Right Knee joint (Y) | -3 to 129 | -0.05235988 to 2.25147474 |
| RAnklePitch | Right Ankle joint (Y) | -45 to 30 | -0.78539816 to 0.52359878 |
| RAnkleRoll | Right Ankle joint (X) | -20 to 20 | -0.34906585 to 0.34906585 |
| RToePitch | Right Ankle joint (Y) | -45 to 0 | -0.78539816 to 0 |
Eyes¶
| Joint name | Motion | Range (degrees) | Range (radian) |
|---|---|---|---|
| LEyeYaw | Left Eye joint (Z) | -30 to 30 | -0.5236 to 0.5236 |
| LEyePitch | Left Eye joint (Y) | -20 to 20 | -0.35 to 0.35 |
| REyeYaw | Right Eye joint (Z) | -30 to 30 | -0.5236 to 0.5236 |
| REyePitch | Right Eye joint (Y) | -20 to 20 | -0.35 to 0.35 |