Appendix:
Device IDs & Joint Limits Device IDs
Device ID (device) | Component | DOF (Joint Count) | REST Angle Unit |
|---|---|---|---|
0 | Left Arm | 7 | 0.001° |
1 | Right Arm | 7 | 0.001° |
2 | Waist | 5 | 0.001° |
3 | Head | 2 | 0.001° |
Joint Limits
| Component | J1 | J2 | J3 | J4 | J5 | J6 | J7 |
|---|---|---|---|---|---|---|---|
| Left Arm Nominal (deg) | -183 to 183 | -95 to 135 | -183 to 183 | -140 to 140 | -360 to 360 | -133 to 133 | -365 to 365 |
| Right Arm Nominal (deg) | -183 to 183 | -135 to 95 | -183 to 183 | -140 to 140 | -360 to 360 | -133 to 133 | -365 to 365 |
| Waist Nominal (deg) | -3 to 93 | -140 to 20 | -10 to 80 | -20 to 20 | -48 to 48 | — | — |
| Head Official Nominal (deg) | -15 to 23 | -23 to 23 | — | — | — | — | — |
| Head Baseline Driver Readback (deg) | -22 to 22 | -22 to 22 | — | — | — | — | — |