Joint Table

	A	B	C	D	E	F	G	H	I	J	K	L	M	N	O	P	Q	R	S
1	Motor Number (Electrical)	Motor Number (Software/Control)	Group (Right is viewer right)	Joint Name (From)	Trajectory motor mapping	i	Joint Name (To)	i	DH Transformation				Direction of Positive Rotation	Ideal Joint Limit (degrees)		Ideal Joint Limits (radians)		Poses
2	Motor Number (Electrical)	Motor Number (Software/Control)	Group (Right is viewer right)	Joint Name (From)	Trajectory motor mapping	i	Joint Name (To)	i	a	alpha	d	theta		min	max	min	max	Standing	Ready

3			Base to Robot	Ground Frame		0	Torso	1	0	90	0.3536	0		-	-	-	-
4	1	1	Right Leg	Torso	right_leg_motor_0	1	Right Hip (Side)	2	-0.0135	90	0.035	0	Feet Turns Inwards	-75	30	-1.309	0.524	0	0
5	2	2		Right Hip (Side)	right_leg_motor_1	2	Right Hip (Front)	3	0	-90	0.156	0	Leg Goes Outwards	-45	90	-0.785	1.571	0	0.05
6	3	3		Right Hip (Front)	right_leg_motor_2	3	Right Thigh	4	0.0929	0	0	-90	Leg Goes Forwards	-45	135	-0.785	2.356	0	0.6
7	4	4		Right Thigh	right_leg_motor_3	4	Right Calve	5	0.0929	0	0	0	Calve Goes Forwards	-160	0	-2.793	0.000	0	-1.4
8	5	5		Right Calve	right_leg_motor_4	5	Right Ankle	6	0.0827	-90	0	0	Foot Point Upwards	-45	90	-0.785	1.571	0	0.8
9	6	6		Right Ankle Twist	right_leg_motor_5	6	Right Foot	7					Feet Point Inwards	-45	45	-0.785	0.785	0	-0.05
10	12	7	Left Leg	Torso	left_leg_motor_0	1	Left Hip (Side)	8	-0.0135	90	-0.035	0	Feet Turns Inwards	-75	30	-1.309	0.524	0	0
11	11	8		Left Hip (Side)	left_leg_motor_1	8	Left Hip (Front)	9	0	-90	0.156	0	Leg Goes Outwards	-90	45	-1.571	0.785	0	0.05
12	10	9		Left Hip (Front)	left_leg_motor_2	9	Left Thigh	10	0.0929	0	0	-90	Leg Goes Forwards	-45	135	-0.785	2.356	0	0.6
13	9	10		Left Thigh	left_leg_motor_3	10	Left Calve	11	0.0929	0	0	0	Calve Goes Forwards	-160	0	-2.793	0.000	0	-1.4
14	8	11		Left Calve	left_leg_motor_4	11	Left Ankle	12	0.0827	-90	0	0	Foot Point Upwards	-45	90	-0.785	1.571	0	0.8
15	7	12		Left Ankle	left_leg_motor_5	12	Left Foot	13					Feet Point Inwards	-45	45	-0.785	0.785	0	-0.05
16	13	13	Right Arm	Torso	right_arm_motor_0	1	Right Bicep	14	0.0157	0	0.0725	0	Arm Goes Forwards	-90	225	-1.571	3.927	0	0.75
17	14	14	Right Arm	Right Bicep	right_arm_motor_1	14	Right Forearm	15	0.1	0	0	-90	Arm Goes Forwards	0	180	0.000	3.142	0	0
18	15	15	Left Arm	Torso	left_arm_motor_0	1	Left Bicep	16	0.0157	0	-0.0725	0	Arm Goes Forwards	-90	225	-1.571	3.927	0	0.75
19	16	16	Left Arm	Left Bicep	left_arm_motor_1	16	Left Forearm	17	0.1	0	0	-90	Arm Goes Forwards	0	180	0.000	3.142	0	0
20	17	17	Head	Torso	Head_motor_0	1	Neck	18					Robot Looks to the Right	-90	90	-1.571	1.571	0	0
21	18	18	Head	Neck	Head_motor_1	18	Head	19					Head Looks Downwards	-135	135	-2.356	2.356	0	0
22																0	0
23																0	0
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