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	・