# Foot ids
RIGHT_FOOT_ROLL, LEFT_FOOT_ROLL, \
RIGHT_FOOT_PITCH, LEFT_FOOT_PITCH = 11,12,13,14

# Lower leg
RIGHT_LOWER_LEG, LEFT_LOWER_LEG = 15,16
#RIGHT_LOWER_SPRING, LEFT_LOWER_SPRING = 101,102
#RIGHT_LOWER_LEG_SEA, LEFT_LOWER_LEG_SEA = 111,112

# Upper leg
RIGHT_UPPER_LEG, LEFT_UPPER_LEG = 21,22
#LEFT_UPPER_SPRING, RIGHT_UPPER_SPRING = 103,104
#LEFT_UPPER_LEG_SEA, RIGHT_UPPER_LEG_SEA = 113,114

# Thigh
RIGHT_LEG_ROLL, LEFT_LEG_ROLL = 23,24
RIGHT_LEG_PITCH, LEFT_LEG_PITCH = 25,26
RIGHT_LEG_YAW, LEFT_LEG_YAW = 27,28

# Arms
RIGHT_ARM_ROLL, LEFT_ARM_ROLL = 31,32
RIGHT_ARM_PITCH, LEFT_ARM_PITCH = 33,34
RIGHT_ARM_YAW, LEFT_ARM_YAW = 35,36
RIGHT_ELBOW, LEFT_ELBOW = 41,42

# Waist
WAIST_ROLL, WAIST_PITCH, WAIST_YAW = 51,52,53

# Head
NECK_PITCH, NECK_YAW = 61,62

RIGHT_FOOT_ROLL_ZERO  =  4096
RIGHT_FOOT_PITCH_ZERO =  4500
RIGHT_LOWER_LEG_ZERO  =  6627
RIGHT_UPPER_LEG_ZERO  =  5005
RIGHT_LEG_ROLL_ZERO   =  4629
RIGHT_LEG_PITCH_ZERO  =  6370
RIGHT_LEG_YAW_ZERO    =  8044
RIGHT_ARM_ROLL_ZERO   =  4587
RIGHT_ARM_PITCH_ZERO  =  7192
RIGHT_ARM_YAW_ZERO    =  5136
RIGHT_ELBOW_ZERO      =  4547
LEFT_FOOT_ROLL_ZERO   =  6125
LEFT_FOOT_PITCH_ZERO  =  6030
LEFT_LOWER_LEG_ZERO   =  5255
LEFT_UPPER_LEG_ZERO   =  7682
LEFT_LEG_ROLL_ZERO    =  6150
LEFT_LEG_PITCH_ZERO   =  6390
LEFT_LEG_YAW_ZERO     =  4220
LEFT_ARM_ROLL_ZERO    =  5930
LEFT_ARM_PITCH_ZERO   =  6890
LEFT_ARM_YAW_ZERO     =  2755
LEFT_ELBOW_ZERO       =  7790
WAIST_ROLL_ZERO       =  8055
WAIST_PITCH_ZERO      =  7513
WAIST_YAW_ZERO        =  4584
NECK_PITCH_ZERO       =  7174
NECK_YAW_ZERO         =  7777
