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A robot description consist in five separate sections:
- 1.
- Body description.
- 2.
- Head description.
- 3.
- Camera description.
- 4.
- Leg description: That includes the leg positioning and the individual leg setup
(bump tolerances, dimensions, and joint limits).
- 5.
- Leg reference description.
Figure 2.27:
The frame of reference attached to the robot's body.
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Josep M. Porta Pleite
8/2/2000