The following devices are joints, with the corresponding range indicated:
legRF1 range=[-134.000000,120.000000] unit=deg : Right fore legJ1 legRF2 range=[-9.000000,91.000000] unit=deg : Right fore legJ2 legRF3 range=[-29.000000,119.000000] unit=deg : Right fore legJ3 legRH1 range=[-134.000000,120.000000] unit=deg : Right hind legJ1 legRH2 range=[-9.000000,91.000000] unit=deg : Right hind legJ2 legRH3 range=[-29.000000,119.000000] unit=deg : Right hind legJ3 legLF1 range=[-120.000000,134.000000] unit=deg : Left fore legJ1 legLF2 range=[-9.000000,91.000000] unit=deg : Left fore legJ2 legLF3 range=[-29.000000,119.000000] unit=deg : Left fore legJ3 legLH1 range=[-120.000000,134.000000] unit=deg : Left hind legJ1 legLH2 range=[-9.000000,91.000000] unit=deg : Left hind legJ2 legLH3 range=[-29.000000,119.000000] unit=deg : Left hind legJ3 neck range=[-79.000000,2.000000] unit=deg : Neck tilt1 headTilt range=[-16.000000,44.000000] unit=deg : Neck tilt2 headPan range=[-91.000000,91.000000] unit=deg : Head pan tailPan range=[-59.000000,59.000000] unit=deg : Tail pan tailTilt range=[2.000000,63.000000] unit=deg : Tail tilt mouth range=[-58.000000,-3.000000] unit=deg : Mouth
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.