身体关节电机顺序
身体关节（根据实际机型有所变化）
| 索引 | pro版 (31维) | standard/standard plus版 (29维) | lite版 (23维) | 说明 |
|---|---|---|---|---|
| 0 | hipPitch_Left | hipPitch_Left | hipPitch_Left | 左髋俯仰 |
| 1 | hipRoll_Left | hipRoll_Left | hipRoll_Left | 左髋侧摆 |
| 2 | hipYaw_Left | hipYaw_Left | hipYaw_Left | 左髋偏航 |
| 3 | kneePitch_Left | kneePitch_Left | kneePitch_Left | 左膝俯仰 |
| 4 | anklePitch_Left | anklePitch_Left | anklePitch_Left | 左踝俯仰 |
| 5 | ankleRoll_Left | ankleRoll_Left | ankleRoll_Left | 左踝侧摆 |
| 6 | hipPitch_Right | hipPitch_Right | hipPitch_Right | 右髋俯仰 |
| 7 | hipRoll_Right | hipRoll_Right | hipRoll_Right | 右髋侧摆 |
| 8 | hipYaw_Right | hipYaw_Right | hipYaw_Right | 右髋偏航 |
| 9 | kneePitch_Right | kneePitch_Right | kneePitch_Right | 右膝俯仰 |
| 10 | anklePitch_Right | anklePitch_Right | anklePitch_Right | 右踝俯仰 |
| 11 | ankleRoll_Right | ankleRoll_Right | ankleRoll_Right | 右踝侧摆 |
| 12 | waistRoll | waistRoll | waistRoll | 腰部侧摆 |
| 13 | waistPitch | waistPitch | waistPitch | 腰部俯仰 |
| 14 | waistYaw | waistYaw | waistYaw | 腰部偏航 |
| 15 | shoulderPitch_Left | shoulderPitch_Left | shoulderPitch_Left | 左肩俯仰 |
| 16 | shoulderRoll_Left | shoulderRoll_Left | shoulderRoll_Left | 左肩侧摆 |
| 17 | shoulderYaw_Left | shoulderYaw_Left | shoulderYaw_Left | 左肩偏航 |
| 18 | elbow_Left | elbow_Left | elbow_Left | 左肘 |
| 19 | wristYaw_Left | wristYaw_Left | shoulderPitch_Right | pro版：左腕偏航 standard版：左腕偏航 lite版：右肩俯仰 |
| 20 | wristPitch_Left | wristPitch_Left | shoulderRoll_Right | pro版：左腕俯仰 standard版：左腕俯仰 lite版：右肩侧摆 |
| 21 | wristRoll_Left | wristRoll_Left | shoulderYaw_Right | pro版：左腕侧摆 standard版：左腕侧摆 lite版：右肩偏航 |
| 22 | shoulderPitch_Right | shoulderPitch_Right | elbow_Right | pro版：右肩俯仰 standard版：右肩俯仰 lite版：右肘 |
| 23 | shoulderRoll_Right | shoulderRoll_Right | / | pro版：右肩侧摆 standard版：右肩侧摆 |
| 24 | shoulderYaw_Right | shoulderYaw_Right | / | pro版：右肩偏航 standard版：右肩偏航 |
| 25 | elbow_Right | elbow_Right | / | pro版：右肘 standard版：右肘 |
| 26 | wristYaw_Right | wristYaw_Right | / | pro版：右腕偏航 standard版：右腕偏航 |
| 27 | wristPitch_Right | wristPitch_Right | / | pro版：右腕俯仰 standard版：右腕俯仰 |
| 28 | wristRoll_Right | wristRoll_Right | / | pro版：右腕侧摆 standard版：右腕侧摆 |
| 29 | neckYaw | / | / | pro版颈部偏航 |
| 30 | neckPitch | / | / | pro版颈部俯仰 |
版本差异：
-
pro版（31关节）：
- 包含完整的颈部关节（neckYaw, neckPitch）
- 包含完整的手腕关节（每只手4个自由度）
- 肩部关节从第18位开始
-
standard/standard plus版（29关节）：
- 没有颈部关节
- 包含完整的手腕关节（每只手4个自由度）
- 肩部关节从第16位开始
-
lite版（23关节）：
- 没有颈部关节
- 没有手腕关节（无wristYaw/wristPitch/wristRoll）
- 只有肩部和肘部关节，左右对称
- 上肢关节数量最少，仅8个关节（左右肩各3个+左右肘各1个）