ABCDEFGHIJKLMNOPQRSTUVWX
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Motor Number
(Electrical)
Motor Number
(Software/Control)
Group
(Right is viewer right)
Joint Name (From)Trajectory motor mappingiJoint Name (To)iDH TransformationDirection of Positive RotationIdeal Joint Limit (degrees)Ideal Joint Limits (radians)Poses
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aalphadthetaminmaxminmaxStandingReady
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Base to RobotGround Frame0Torso10900.35360----
4
11Right LegTorsoright_leg_motor_01Right Hip (Side)2-0.0135900.0350Feet Turns Inwards-7530-1.3090.52400
5
22Right Hip (Side)right_leg_motor_12Right Hip (Front)30-900.1560Leg Goes Outwards-4590-0.7851.57100.05
6
33Right Hip (Front)right_leg_motor_23Right Thigh40.092900-90Leg Goes Forwards-45135-0.7852.35600.6
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44Right Thighright_leg_motor_34Right Calve50.0929000Calve Goes Forwards-1600-2.7930.0000-1.4
8
55Right Calveright_leg_motor_45Right Ankle60.0827-9000Foot Point Upwards-4590-0.7851.57100.8
9
66Right Ankle Twistright_leg_motor_56Right Foot7Feet Point Inwards-4545-0.7850.7850-0.05
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127Left LegTorsoleft_leg_motor_01Left Hip (Side)8-0.013590-0.0350Feet Turns Inwards-7530-1.3090.52400
11
118Left Hip (Side)left_leg_motor_18Left Hip (Front)90-900.1560Leg Goes Outwards-9045-1.5710.78500.05
12
109Left Hip (Front)left_leg_motor_29Left Thigh100.092900-90Leg Goes Forwards-45135-0.7852.35600.6
13
910Left Thighleft_leg_motor_310Left Calve110.0929000Calve Goes Forwards-1600-2.7930.0000-1.4
14
811Left Calveleft_leg_motor_411Left Ankle120.0827-9000Foot Point Upwards-4590-0.7851.57100.8
15
712Left Ankleleft_leg_motor_512Left Foot13Feet Point Inwards-4545-0.7850.7850-0.05
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1313Right ArmTorsoright_arm_motor_01Right Bicep140.015700.07250Arm Goes Forwards-90225-1.5713.92700.75
17
1414Right Bicepright_arm_motor_114Right Forearm150.100-90Arm Goes Forwards01800.0003.14200
18
1515Left ArmTorsoleft_arm_motor_01Left Bicep160.01570-0.07250Arm Goes Forwards-90225-1.5713.92700.75
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1616Left Bicepleft_arm_motor_116Left Forearm170.100-90Arm Goes Forwards01800.0003.14200
20
1717HeadTorsoHead_motor_01Neck18Robot Looks to the Right-9090-1.5711.57100
21
1818NeckHead_motor_118Head19Head Looks Downwards-135135-2.3562.35600
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