All,

To control joints in the atlas robot, we have convenient enum in the message as shown below, so if I want to control a specific joint, I know which array element to put the command values in.

I have been looking for the same thing for the sandia hands, and can't find it. I have found some materials with names like leftfoj1 or the like, but is the element 0? element 15? I need an enum. I'm sure this is buried somewhere in the source code, but I have not managed to find it. Can some body point me to this, or maybe even just post the numbering in an answer?

Thanks

int32 backlbz = 0 int32 backmby = 1 int32 backubx = 2 int32 neckay = 3 int32 lleguhz = 4 int32 llegmhx = 5 int32 lleglhy = 6 int32 llegkny = 7 int32 lleguay = 8 int32 lleglax = 9 int32 rleguhz = 10 int32 rlegmhx = 11 int32 rleglhy = 12 int32 rlegkny = 13 int32 rleguay = 14 int32 rleglax = 15 int32 larmusy = 16 int32 larmshx = 17 int32 larmely = 18 int32 larmelx = 19 int32 larmuwy = 20 int32 larmmwx = 21 int32 rarmusy = 22 int32 rarmshx = 23 int32 rarmely = 24 int32 rarmelx = 25 int32 rarmuwy = 26 int32 rarmmwx = 27