Joint Rotation Ranges and Directionality

Joint Name	ID	Home Angle	Minimum	Maximum
Head Tilt	01	125	100	145
Head Nod	02	125	110	155
Head Turn	03	120	70	160
Right Chest	04	135	60	240
Right Shoulder	05	85	70	240
Right Bicep	06	115
Right Elbow	07	90	20	115
Left Chest	08	115	0	180
Left Shoulder	09	180	30	200
Left Bicep	10	115
Left Elbow	11	105	60	180
Right Hip	12	84	84	170
Right Knee	13	90	90	180
Right Ankle	14	80	60	100
Left Hip	15	96	10	96
Left Knee	16	80	0	80
Left Ankle	17	90	70	110
Torso Tilt	18	115	80	160
Torso Bow	19	125	100	145
Right Gripper	20	0
Left Gripper	21	0