Re: [simspark-devel] confusing descriptions in the manual

[Xu Y. <xuy...@gm...>]

Hi,

The robot is constructed facing to y axis, e.g. the x axis in figure
8.6(from Aldebaran) is y axis in SimSpark.

PS: It would be better to ask such questions in
sse...@li..., this list is for discussion
development.

-- 
Best Regards,
Xu, Yuan


On Thu, 2010-04-29 at 18:56 +0800, Huang Yaolong wrote:
>  Hi, all.
>
>  I'm confused about the joint configurations stated in the manual.
>  In the manual, the axis description states the direction relative to
>  the body that installed on. But there are some axis which are not
>  consistent with the figure 8.6.
>  For example of joint of the head, the axis direction stated in the
>  table 8.3 is [1, 0, 0], but as shown in figure 8.6, the head joint
>  axis should be in the direction [0, 1, 0] relative to the head( or the
>  neck's axis).
>  I'm not very clear why the [x, y, z] form of direction will be used in
>  the axis description. Is there any default frame attached to the
>  bodypart so that [x, y, z] is relative to the frame?
>  If there is a default frame, how to figure it out? This is very
>  important for me, because both of axis and anchor of the joint use the
>  3D coordinates to describe their position.
>
>  -- 
>  Best regards,
>  Yaolong Huang(Curtis)
>
>  Tianjin University, China
>
>  Blog: http://blog.csdn.net/airekans/
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