Joint ID Mapping

Joint ID	Name	CAN ID	Range	Description
Left Arm		CAN0
0	left_shoulder_pitch	1	[-90, 45]	controls the flexion/extension (pitch) motion of the left upper arm. Positive is flexion
1	left_shoulder_roll	3	[-90, 0]	controls the abduction/adduction (yaw) motion of the left upper arm. Positive is adduction
2	left_shoulder_yaw	5	[-45, 45]	controls the rotation (roll) motion of the left upper arm. Positive is lateral rotation
3	left_elbow_pitch	7	[-90, 0]	controls the flexion/extension (pitch) motion of the left forearm. Positive is extension
4	left_elbow_yaw	9	[-45, 45]	controls the rotation (roll) motion of the left forearm. Positive is lateral rotation
Right Arm		CAN1
5	right_shoulder_pitch	2	[-90, 45]	controls the flexion/extension (pitch) motion of the right upper arm. Positive is extension
6	right_shoulder_roll	4	[0, 90]	controls the abduction/adduction (yaw) motion of the right upper arm. Positive is abduction
7	right_shoulder_yaw	6	[-45, 45]	controls the rotation (roll) motion of the right upper arm. Positive is medial rotation
8	right_elbow_pitch	8	[-90, 0]	controls the flexion/extension (pitch) motion of the right forearm. Positive is flexion
9	right_elbow_yaw	10	[-45, 45]	controls the rotation (roll) motion of the right forearm. Positive is medial rotation
Left Leg		CAN2
10	left_hip_roll	1	[-10, 90]	controls the flexion/extension (pitch) motion of the left thigh. Positive is flexion
11	left_hip_yaw	3	[-56.25, 33.75]	controls the abduction/adduction (yaw) motion of the left thigh. Positive is adduction
12	left_hip_pitch	5	[-108.75, 56.25]	controls the rotation (roll) motion of the left thigh. Positive is lateral rotation
13	left_knee_pitch	7	[0, 140]	controls the flexion/extension (pitch) motion of the left shin. Positive is extension
14	left_ankle_pitch	11	[-45, 45]	controls the dorsiflexion / plantar flexion (pitch) motion of the left foot. Positive is dorsiflexion
15	left_ankle_roll	13	[-15, 15]	controls the inversion / eversion (roll) motion of the left foot. Positive is eversion
Right Leg		CAN3
16	right_hip_roll	2	[90, -10]	controls the flexion/extension (pitch) motion of the right thigh. Positive is extension
17	right_hip_yaw	4	[-33.75, 56.25]	controls the abduction/adduction (yaw) motion of the right thigh. Positive is abduction
18	right_hip_pitch	6	[-108.75, 56.25]	controls the rotation (roll) motion of the right thigh. Positive is medial rotation
19	right_knee_pitch	8	[0, 140]	controls the flexion/extension (pitch) motion of the right shin. Positive is flexion
20	right_ankle_pitch	12	[-45, 45]	controls the dorsiflexion / plantar flexion (pitch) motion of the right foot. Positive is plantar flexion
21	right_ankle_roll	14	[-15, 15]	controls the inversion / eversion (roll) motion of the right foot. Positive is inversion