humotion

    for (int i = ICUB_ID_NECK_TILT; i <= ICUB_ID_EYES_VERGENCE; i++) {

        set_target_in_velocitymode(i);

    }

    // eyelids: unfortuantely the icub has only 1dof for eyelids

    // therefore we can only use an opening value

    float opening_left  = target_angle_[ICUB_ID_EYES_LEFT_LID_UPPER]

    //mouth

    face_interface_->set_mouth(target_angle_);

    // store joint values which we do not handle on icub here:

    double timestamp = humotion::Timestamp::now().to_seconds();

    double min, max;

    int humotion_id = convert_icub_jointid_to_humotion(icub_id);

    joint_min[humotion_id] = min;

    joint_max[humotion_id] = max;

}