Geometry and Frames

Robot structure

The main robot parts are illustrated below. Use the naming and frame conventions from this page consistently in logs, diagnostics and documentation.

Leg naming

Abbreviation	Meaning
FR	Front‑right leg
FL	Front‑left leg
RL	Rear‑left leg
RR	Rear‑right leg

Local coordinate frame

The robot uses a right‑hand coordinate system with origin at the chassis center (approximately the center of mass). Axes and rotations are defined as:

• X — forward (positive toward the robot front)

• Y — left (positive toward the robot left)

• Z — up (positive opposite gravity)

Rotations:

• Roll — rotation around X

• Pitch — rotation around Y

• Yaw — rotation around Z

Use these conventions when interpreting TFs, URDF links and joint commands.