}
}
public static final String chestName = "utorso";
public static final String pelvisName = "pelvis";
public static final String headName = "head";
<BUG>private final LegJointName[] legJoints = { HIP_YAW, HIP_ROLL, HIP_PITCH, KNEE_PITCH, ANKLE_PITCH, ANKLE_ROLL };
private final ArmJointName[] armJoints = { SHOULDER_YAW, SHOULDER_ROLL, ELBOW_PITCH, ELBOW_ROLL, FIRST_WRIST_PITCH, WRIST_ROLL, SECOND_WRIST_PITCH };
private final SpineJointName[] spineJoints = { SPINE_PITCH, SPINE_ROLL, SPINE_YAW };
private final NeckJointName[] neckJoints = { PROXIMAL_NECK_PITCH };
private final LinkedHashMap<String, JointRole> jointRoles = new LinkedHashMap<String, JointRole>();</BUG>
private final LinkedHashMap<String, ImmutablePair<RobotSide, LimbName>> limbNames = new LinkedHashMap<String, ImmutablePair<RobotSide, LimbName>>();

}
}
public static final String chestName = "utorso";
public static final String pelvisName = "pelvis";
public static final String headName = "head";
private final LegJointName[] legJoints = {HIP_YAW, HIP_ROLL, HIP_PITCH, KNEE_PITCH, ANKLE_PITCH, ANKLE_ROLL};
private final ArmJointName[] armJoints;
private final SpineJointName[] spineJoints = {SPINE_PITCH, SPINE_ROLL, SPINE_YAW};
private final NeckJointName[] neckJoints = {PROXIMAL_NECK_PITCH};
private final LinkedHashMap<String, JointRole> jointRoles = new LinkedHashMap<String, JointRole>();
private final LinkedHashMap<String, ImmutablePair<RobotSide, LimbName>> limbNames = new LinkedHashMap<String, ImmutablePair<RobotSide, LimbName>>();
