Joint ID Mapping

Joint ID	Name	CAN ID	Range	Description
Left Arm
0	upperarm_x_l	1	[-90, 45]	controls the flexion/extension (pitch) motion of the left upper arm. Positive is flexion
1	upperarm_y_l	3	[-90, 0]	controls the abduction/adduction (yaw) motion of the left upper arm. Positive is adduction
2	upperarm_z_l	5	[-45, 45]	controls the rotation (roll) motion of the left upper arm. Positive is lateral rotation
3	lowerarm_x_l	7	[-90, 0]	controls the flexion/extension (pitch) motion of the left forearm. Positive is extension
4	lowerarm_z_l	9	[-45, 45]	controls the rotation (roll) motion of the left forearm. Positive is lateral rotation
Right Arm
5	upperarm_x_r	2	[-45, 90]	controls the flexion/extension (pitch) motion of the right upper arm. Positive is extension
6	upperarm_y_r	4	[0, 90]	controls the abduction/adduction (yaw) motion of the right upper arm. Positive is abduction
7	upperarm_z_r	6	[-45, 45]	controls the rotation (roll) motion of the right upper arm. Positive is medial rotation
8	lowerarm_x_r	8	[0, 90]	controls the flexion/extension (pitch) motion of the right forearm. Positive is flexion
9	lowerarm_z_r	10	[-45, 45]	controls the rotation (roll) motion of the right forearm. Positive is medial rotation
Left Leg
10	upperleg_y_l	1	[-90, 10]	controls the flexion/extension (pitch) motion of the left thigh. Positive is flexion
11	upperleg_z_l	3	[-45, 45]	controls the abduction/adduction (yaw) motion of the left thigh. Positive is adduction
12	upperleg_x_l	5	[-110, 45]	controls the rotation (roll) motion of the left thigh. Positive is lateral rotation
13	lowerleg_x_l	7	[0, 135]	controls the flexion/extension (pitch) motion of the left shin. Positive is extension
14	lowerleg_z_l	9	[-45, 45]	controls the rotation (roll) motion of the left shin. Positive is lateral rotation
15	foot_x_l	11	[-10, 45]	controls the dorsiflexion / plantar flexion (pitch) motion of the left foot. Positive is dorsiflexion
16	foot_y_l	13	[-45, 45]	controls the inversion / eversion (roll) motion of the left foot. Positive is eversion
Right Leg
17	upperleg_y_r	2	[0, 90]	controls the flexion/extension (pitch) motion of the right thigh. Positive is extension
18	upperleg_z_r	4	[-45, 45]	controls the abduction/adduction (yaw) motion of the right thigh. Positive is abduction
19	upperleg_x_r	6	[-45, 110]	controls the rotation (roll) motion of the right thigh. Positive is medial rotation
20	lowerleg_x_r	8	[-135, 0]	controls the flexion/extension (pitch) motion of the right shin. Positive is flexion
21	lowerleg_z_r	10	[-45, 45]	controls the rotation (roll) motion of the right shin. Positive is medial rotation
22	foot_x_r	12	[-45, 10]	controls the dorsiflexion / plantar flexion (pitch) motion of the right foot. Positive is plantar flexion
23	foot_y_r	14	[-45, 45]	controls the inversion / eversion (roll) motion of the right foot. Positive is inversion