Body Joint Motor Sequence

Body joints (depending on the robot model)

Index	pro (31-dim)	standard/standard plus (29-dim)	lite (23-dim)	Description
0	hipPitch_Left	hipPitch_Left	hipPitch_Left	Left hip pitch
1	hipRoll_Left	hipRoll_Left	hipRoll_Left	Left hip roll
2	hipYaw_Left	hipYaw_Left	hipYaw_Left	Left hip yaw
3	kneePitch_Left	kneePitch_Left	kneePitch_Left	Left knee pitch
4	anklePitch_Left	anklePitch_Left	anklePitch_Left	Left ankle pitch
5	ankleRoll_Left	ankleRoll_Left	ankleRoll_Left	Left ankle roll
6	hipPitch_Right	hipPitch_Right	hipPitch_Right	Right hip pitch
7	hipRoll_Right	hipRoll_Right	hipRoll_Right	Right hip roll
8	hipYaw_Right	hipYaw_Right	hipYaw_Right	Right hip yaw
9	kneePitch_Right	kneePitch_Right	kneePitch_Right	Right knee pitch
10	anklePitch_Right	anklePitch_Right	anklePitch_Right	Right ankle pitch
11	ankleRoll_Right	ankleRoll_Right	ankleRoll_Right	Right ankle roll
12	waistRoll	waistRoll	waistRoll	Waist roll
13	waistPitch	waistPitch	waistPitch	Waist pitch
14	waistYaw	waistYaw	waistYaw	Waist yaw
15	shoulderPitch_Left	shoulderPitch_Left	shoulderPitch_Left	Left shoulder pitch
16	shoulderRoll_Left	shoulderRoll_Left	shoulderRoll_Left	Left shoulder roll
17	shoulderYaw_Left	shoulderYaw_Left	shoulderYaw_Left	Left shoulder yaw
18	elbow_Left	elbow_Left	elbow_Left	Left elbow
19	wristYaw_Left	wristYaw_Left	shoulderPitch_Right	pro version: Left wrist yaw standard version: Left wrist yaw lite version: Right shoulder pitch
20	wristPitch_Left	wristPitch_Left	shoulderRoll_Right	pro version: Left wrist pitch standard version: Left wrist pitch lite version: Right shoulder roll
21	wristRoll_Left	wristRoll_Left	shoulderYaw_Right	pro version: Left wrist roll standard version: Left wrist roll lite version: Right shoulder yaw
22	shoulderPitch_Right	shoulderPitch_Right	elbow_Right	pro version: Right shoulder pitch standard version: Right shoulder pitch lite version: Right elbow
23	shoulderRoll_Right	shoulderRoll_Right	/	pro version: Right shoulder roll standard version: Right shoulder roll
24	shoulderYaw_Right	shoulderYaw_Right	/	pro version: Right shoulder yaw standard version: Right shoulder yaw
25	elbow_Right	elbow_Right	/	pro version: Right elbow standard version: Right elbow
26	wristYaw_Right	wristYaw_Right	/	pro version: Right wrist yaw standard version: Right wrist yaw
27	wristPitch_Right	wristPitch_Right	/	pro version: Right wrist pitch standard version: Right wrist pitch
28	wristRoll_Right	wristRoll_Right	/	pro version: Right wrist roll standard version: Right wrist roll
29	neckYaw	/	/	pro version neck yaw
30	neckPitch	/	/	pro version neck pitch

Version Differences:

1. Pro (31 joints):
   • Includes complete neck joints (neckYaw, neckPitch)
   • Includes full wrist joints (4 DOF per hand)
   • Shoulder joints start from index 18
2. Standard / Standard Plus (29 joints):
   • No neck joints
   • Includes full wrist joints (4 DOF per hand)
   • Shoulder joints start from index 16
3. Lite (23 joints):
   • No neck joints
   • No wrist joints (no wristYaw/wristPitch/wristRoll)
   • Only shoulder and elbow joints, symmetric left/right
   • Minimum upper limb joints (8 total: 3 per shoulder + 1 per elbow each side)