1. Basic Motion Routine

• Parallel Joint Space (PJS)

  • Parallel Joint Space (PJS) is a control mode that operates each robot joint using the functional coordinate system defined by the Pitch (P) and Roll (R) joints. Because PJS uses the same P/R axes defined in the robot’s URDF model, users can issue commands using a conventional joint-based control approach without additional coordinate conversion.

• Motor Space (MS)

  • Motor Space (MS) is a low-level control mode that directly controls the physical Motor A and Motor B actuators inside the joint. Due to the characteristics of the parallel mechanism, functional Pitch–Roll (PR) motion is generated through the combined operation of Motors A and B. Therefore, when using MS mode, users must perform the PR ↔ AB conversionthemselves using forward and inverse kinematics.

2. Joint Motor Sequence

• IGRIS-C Joint Motor Order
  

  Motor ID	Motor Name	Joint Name
  1	Waist_Yaw	Waist_Yaw
  2	Waist_L	Waist_Roll
  3	Waist_R	Waist_Pitch
  4	Hip_Pitch_L	Hip_Pitch_L
  5	Hip_Roll_L	Hip_Roll_L
  6	Hip_Yaw_L	Hip_Yaw_L
  7	Knee_Pitch_L	Knee_Pitch_L
  8	Ankle_Out_L	Ankle_Pitch_L
  9	Ankle_In_L	Ankle_Roll_L
  10	Hip_Pitch_R	Hip_Pitch_R
  11	Hip_Roll_R	Hip_Roll_R
  12	Hip_Yaw_R	Hip_Yaw_R
  13	Knee_Pitch_R	Knee_Pitch_R
  14	Ankle_Out_R	Ankle_Pitch_R
  15	Ankle_In_R	Ankle_Roll_R
  16	Shoulder_Pitch_L	Shoulder_Pitch_L
  17	Shoulder_Roll_L	Shoulder_Roll_L
  18	Shoulder_Yaw_L	Shoulder_Yaw_L
  19	Elbow_Pitch_L	Elbow_Pitch_L
  20	Wrist_Yaw_L	Wrist_Yaw_L
  21	Wrist_Front_L	Wrist_Roll_L
  22	Wrist_Back_L	Wrist_Pitch_L
  23	Shoulder_Pitch_R	Shoulder_Pitch_R
  24	Shoulder_Roll_R	Shoulder_Roll_R
  25	Shoulder_Yaw_R	Shoulder_Yaw_R
  26	Elbow_Pitch_R	Elbow_Pitch_R
  27	Wrist_Yaw_R	Wrist_Yaw_R
  28	Wrist_Front_R	Wrist_Roll_R
  29	Wrist_Back_R	Wrist_Pitch_R
  30	Neck_Yaw	Neck_Yaw
  31	Neck_Pitch	Neck_Pitch