Joint No. Assignment
The distinction between left and right is defined as seen from the PLEN's back. Rotation axis is expressed by an arrow-shaped and this is subject to the right-hand rule. "・" symbol means a vector from back to front. (as if this crosses your screen vertically.) "×" symbol means a negative vector of a vector described previously. (See also : Frame of Reference of a Servo Motor)
(This is only available for just after PLEN was starting. If you rotated any parent joint, also child joints are rotating.)
| No. | Name | Index (Old) | Index (New) | Rotation axis |
|---|---|---|---|---|
| 1 | Left Shoulder Pitch | 18 | 0 | ← |
| 2 | Left Thigh Yaw | 12 | 1 | ↑ |
| 3 | Left Shoulder Roll | 19 | 2 | × |
| 4 | Left Elbow Roll | 21 | 3 | ・ |
| 5 | Left Thigh Roll | 13 | 4 | × |
| 6 | Left Thigh Pitch | 14 | 5 | ← |
| 7 | Left Knee Pitch | 15 | 6 | ← |
| 8 | Left Foot Pitch | 17 | 7 | → |
| 9 | Left Foot Roll | 16 | 8 | ・ |
| 10 | Right Shoulder Pitch | 6 | 12 | → |
| 11 | Right Thigh Yaw | 0 | 13 | ↑ |
| 12 | Right Shoulder Roll | 7 | 14 | × |
| 13 | Right Elbow Roll | 9 | 15 | ・ |
| 14 | Right Thigh Roll | 1 | 16 | × |
| 15 | Right Thigh Pitch | 2 | 17 | → |
| 16 | Right Knee Pitch | 3 | 18 | → |
| 17 | Right Foot Pitch | 5 | 19 | ← |
| 18 | Right Foot Roll | 4 | 20 | ・ |