> For the complete documentation index, see [llms.txt](https://berkeley-humanoid-lite.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://berkeley-humanoid-lite.gitbook.io/docs/in-depth-contents/joint-id-mapping.md).

# Joint ID Mapping

<table data-header-hidden><thead><tr><th width="100.33331298828125"></th><th width="189.33331298828125"></th><th width="82.3333740234375"></th><th width="111.3333740234375"></th><th></th></tr></thead><tbody><tr><td>Joint ID</td><td>Name</td><td>CAN ID</td><td>Range</td><td>Description</td></tr><tr><td>Left Arm</td><td></td><td>CAN0</td><td></td><td></td></tr><tr><td>0</td><td>left_shoulder_pitch</td><td>1</td><td>[-90, 45]</td><td>controls the flexion/extension (pitch) motion of the left upper arm. Positive is flexion</td></tr><tr><td>1</td><td>left_shoulder_roll</td><td>3</td><td>[-90, 0]</td><td>controls the abduction/adduction (yaw) motion of the left upper arm. Positive is adduction</td></tr><tr><td>2</td><td>left_shoulder_yaw</td><td>5</td><td>[-45, 45]</td><td>controls the rotation (roll) motion of the left upper arm. Positive is lateral rotation</td></tr><tr><td>3</td><td>left_elbow_pitch</td><td>7</td><td>[-90, 0]</td><td>controls the flexion/extension (pitch) motion of the left forearm. Positive is extension</td></tr><tr><td>4</td><td>left_elbow_yaw</td><td>9</td><td>[-45, 45]</td><td>controls the rotation (roll) motion of the left forearm. Positive is lateral rotation</td></tr><tr><td>Right Arm</td><td></td><td>CAN1</td><td></td><td></td></tr><tr><td>5</td><td>right_shoulder_pitch</td><td>2</td><td>[-90, 45]</td><td>controls the flexion/extension (pitch) motion of the right upper arm. Positive is extension</td></tr><tr><td>6</td><td>right_shoulder_roll</td><td>4</td><td>[0, 90]</td><td>controls the abduction/adduction (yaw) motion of the right upper arm. Positive is abduction</td></tr><tr><td>7</td><td>right_shoulder_yaw</td><td>6</td><td>[-45, 45]</td><td>controls the rotation (roll) motion of the right upper arm. Positive is medial rotation</td></tr><tr><td>8</td><td>right_elbow_pitch</td><td>8</td><td>[-90, 0]</td><td>controls the flexion/extension (pitch) motion of the right forearm. Positive is flexion</td></tr><tr><td>9</td><td>right_elbow_yaw</td><td>10</td><td>[-45, 45]</td><td>controls the rotation (roll) motion of the right forearm. Positive is medial rotation</td></tr><tr><td>Left Leg</td><td></td><td>CAN2</td><td></td><td></td></tr><tr><td>10</td><td>left_hip_roll</td><td>1</td><td>[-10, 90]</td><td>controls the flexion/extension (pitch) motion of the left thigh. Positive is flexion</td></tr><tr><td>11</td><td>left_hip_yaw</td><td>3</td><td>[-56.25, 33.75]</td><td>controls the abduction/adduction (yaw) motion of the left thigh. Positive is adduction</td></tr><tr><td>12</td><td>left_hip_pitch</td><td>5</td><td>[-108.75, 56.25]</td><td>controls the rotation (roll) motion of the left thigh. Positive is lateral rotation</td></tr><tr><td>13</td><td>left_knee_pitch</td><td>7</td><td>[0, 140]</td><td>controls the flexion/extension (pitch) motion of the left shin. Positive is extension</td></tr><tr><td>14</td><td>left_ankle_pitch</td><td>11</td><td>[-45, 45]</td><td>controls the dorsiflexion / plantar flexion (pitch) motion of the left foot. Positive is dorsiflexion</td></tr><tr><td>15</td><td>left_ankle_roll</td><td>13</td><td>[-15, 15]</td><td>controls the inversion / eversion (roll) motion of the left foot. Positive is eversion</td></tr><tr><td>Right Leg</td><td></td><td>CAN3</td><td></td><td></td></tr><tr><td>16</td><td>right_hip_roll</td><td>2</td><td>[90, -10]</td><td>controls the flexion/extension (pitch) motion of the right thigh. Positive is extension</td></tr><tr><td>17</td><td>right_hip_yaw</td><td>4</td><td>[-33.75, 56.25]</td><td>controls the abduction/adduction (yaw) motion of the right thigh. Positive is abduction</td></tr><tr><td>18</td><td>right_hip_pitch</td><td>6</td><td>[-108.75, 56.25]</td><td>controls the rotation (roll) motion of the right thigh. Positive is medial rotation</td></tr><tr><td>19</td><td>right_knee_pitch</td><td>8</td><td>[0, 140]</td><td>controls the flexion/extension (pitch) motion of the right shin. Positive is flexion</td></tr><tr><td>20</td><td>right_ankle_pitch</td><td>12</td><td>[-45, 45]</td><td>controls the dorsiflexion / plantar flexion (pitch) motion of the right foot. Positive is plantar flexion</td></tr><tr><td>21</td><td>right_ankle_roll</td><td>14</td><td>[-15, 15]</td><td>controls the inversion / eversion (roll) motion of the right foot. Positive is inversion</td></tr></tbody></table>

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