The following devices are joints, with the corresponding range indicated:
legRF1 range=[-116.000000,116.000000] unit=deg : Right fore legJ1 legRF2 range=[-10.000000,92.000000] unit=deg : Right fore legJ2 legRF3 range=[-26.000000,146.000000] unit=deg : Right fore legJ3 legRH1 range=[-116.000000,116.000000] unit=deg : Right hind legJ1 legRH2 range=[-10.000000,92.000000] unit=deg : Right hind legJ2 legRH3 range=[-26.000000,146.000000] unit=deg : Right hind legJ3 legLF1 range=[-116.000000,116.000000] unit=deg : Left fore legJ1 legLF2 range=[-10.000000,92.000000] unit=deg : Left fore legJ2 legLF3 range=[-26.000000,146.000000] unit=deg : Left fore legJ3 legLH1 range=[-116.000000,116.000000] unit=deg : Left hind legJ1 legLH2 range=[-10.000000,92.000000] unit=deg : Left hind legJ2 legLH3 range=[-26.000000,146.000000] unit=deg : Left hind legJ3 headPan range=[-89.000000,89.000000] unit=deg : Head pan headRoll range=[-27.000000,27.000000] unit=deg : Head roll headTilt range=[-87.000000,41.000000] unit=deg : Head tilt
For all joints, you have the following fields:
val: The value of the joint.
force: The torque measured on the joint.
load: The load of the joint. 0 means ``loose'', and 1 means blocked. Values in between give intermediary results.
PGain: The P gain of the joint.
IGain: The I gain of the joint.
DGain: The D gain of the joint.
PShift: The P shift of the joint.
IShift: The I shift of the joint.
DShift: The D shift of the joint.