public NaoSkeleton getNaoSkeleton()
{
Joint center = hk.getJoint(JointID.HipCenter);
NaoPosition position = new NaoPosition((float)center.x, (float)center.y, (float)center.z);
NaoElbow LElbow = new NaoElbow(this.angles[(int)NaoJointAngle.LElbowYaw], this.angles[(int)NaoJointAngle.LElbowRoll], true);
NaoElbow RElbow = new NaoElbow(this.angles[(int)NaoJointAngle.RElbowYaw], this.angles[(int)NaoJointAngle.RElbowRoll], false);
NaoShoulder LShoulder = new NaoShoulder(this.angles[(int)NaoJointAngle.LShoulderPitch], this.angles[(int)NaoJointAngle.LShoulderRoll], true);
NaoShoulder RShoulder = new NaoShoulder(this.angles[(int)NaoJointAngle.RShoulderPitch], this.angles[(int)NaoJointAngle.RShoulderRoll], false);
NaoWrist LWrist = new NaoWrist(0);
NaoWrist RWrist = new NaoWrist(0);
NaoHand LHand = new NaoHand(true);
NaoHand RHand = new NaoHand(true);
return new NaoSkeleton(position, LShoulder, RShoulder, LWrist, RWrist, LElbow, RElbow, LHand, RHand);
}