Kinematic Chain

Kinematics chain

Indexes

TODO mention hand joints and links

  • [Kinematics chain: indexes and definition](#definitions)

Joint indexes and names:

    1. <prefix>c1_head_x

    1. <prefix>c1_head_y

    1. <prefix>c1_head_z

    1. <prefix>l1_t12_x

    1. <prefix>l1_t12_y

    1. <prefix>l1_t12_z

    1. <prefix>l4_l3_x

    1. <prefix>l4_l3_y

    1. <prefix>l4_l3_z

    1. <prefix>l5_s1_x

    1. <prefix>l5_s1_y

    1. <prefix>l5_s1_z

    1. <prefix>left_ankle_x

    1. <prefix>left_ankle_y

    1. <prefix>left_ankle_z

    1. <prefix>left_ball_foot_x

    1. <prefix>left_ball_foot_y

    1. <prefix>left_ball_foot_z

    1. <prefix>left_c7_shoulder_x

    1. <prefix>left_c7_shoulder_y

    1. <prefix>left_c7_shoulder_z

    1. <prefix>left_elbow_x

    1. <prefix>left_elbow_y

    1. <prefix>left_elbow_z

    1. <prefix>left_hip_x

    1. <prefix>left_hip_y

    1. <prefix>left_hip_z

    1. <prefix>left_knee_x

    1. <prefix>left_knee_y

    1. <prefix>left_knee_z

    1. <prefix>left_shoulder_x

    1. <prefix>left_shoulder_y

    1. <prefix>left_shoulder_z

    1. <prefix>left_wrist_x

    1. <prefix>left_wrist_y

    1. <prefix>left_wrist_z

    1. <prefix>right_ankle_x

    1. <prefix>right_ankle_y

    1. <prefix>right_ankle_z

    1. <prefix>right_ball_foot_x

    1. <prefix>right_ball_foot_y

    1. <prefix>right_ball_foot_z

    1. <prefix>right_c7_shoulder_x

    1. <prefix>right_c7_shoulder_y

    1. <prefix>right_c7_shoulder_z

    1. <prefix>right_elbow_x

    1. <prefix>right_elbow_y

    1. <prefix>right_elbow_z

    1. <prefix>right_hip_x

    1. <prefix>right_hip_y

    1. <prefix>right_hip_z

    1. <prefix>right_knee_x

    1. <prefix>right_knee_y

    1. <prefix>right_knee_z

    1. <prefix>right_shoulder_x

    1. <prefix>right_shoulder_y

    1. <prefix>right_shoulder_z

    1. <prefix>right_wrist_x

    1. <prefix>right_wrist_y

    1. <prefix>right_wrist_z

    1. <prefix>t1_c7_x

    1. <prefix>t1_c7_y

    1. <prefix>t1_c7_z

    1. <prefix>t9_t8_x

    1. <prefix>t9_t8_y

    1. <prefix>t9_t8_z

Link indexes and names:

    1. <prefix>base_link

    1. <prefix>pelvis

    1. <prefix>l5

    1. <prefix>l3

    1. <prefix>t12

    1. <prefix>t8

    1. <prefix>neck

    1. <prefix>head

    1. <prefix>right_shoulder

    1. <prefix>right_upper_arm

    1. <prefix>right_forearm

    1. <prefix>right_hand

    1. <prefix>left_shoulder

    1. <prefix>left_upper_arm

    1. <prefix>left_forearm

    1. <prefix>left_hand

    1. <prefix>right_upper_leg

    1. <prefix>right_lower_leg

    1. <prefix>right_foot

    1. <prefix>right_toe

    1. <prefix>left_upper_leg

    1. <prefix>left_lower_leg

    1. <prefix>left_foot

    1. <prefix>left_toe

    1. <prefix>generic_link