Form factors
Five profiles classified by form. The same Component runs on different joints through the role mapping.
Five form factors
IDFormAlso calledAttendPostureLocomoteGestureSubstitute
ff.fixed_jointedJoint FixedStand · tabletop · robot armHead · wristTorso—(attend)Locomote → lean
ff.wheeled_rigidJointless DrivingWheeled · cylinderBody turn—WheelsBody turnPosture → skip
ff.wheeled_jointedJoint DrivingWheels + head / armHead(torso)WheelsArm (if any)Gesture → body turn
ff.leggedJoint WalkingQuadruped · pet robotHead · bodyHeight and tilt with legsLegs(attend)
ff.full_bodyFull-bodyHumanoidHeadTorso · legsLegsArmsAll roles
Profile example
{ "id": "ff.fixed_jointed", "name": { "en": "Joint Fixed", "alias": ["Stand", "Robot arm"] },
"roles": { "ATTEND": ["head_pan", "head_tilt"], "POSTURE": ["torso_pitch"],
"LOCOMOTE": null, "GESTURE": "ATTEND" },
"limits": { "head_tilt_deg": [-30, 30], "max_speed_deg_s": 350 },
"channels": { "face": "eyes", "voice": "earcon", "light": null },
"substitute": { "LOCOMOTE": "POSTURE.lean" } }