电机顺序
G1 全身关节电机顺序
unitree_hg::msg::dds_::LowCmd_.motor_cmd 与 unitree_hg::msg::dds_::LowState_.motor_state 包含 G1 全身电机（不含手）的信息，其电机顺序如下：
23DOF 版本
| Joint Index in IDL |
Joint Name (LowCmd_.mode or LowState_.mode == 0) |
Joint Name (LowCmd_.mode or LowState_.mode == 1) |
| 0 |
L_LEG_HIP_PITCH |
L_LEG_HIP_PITCH |
| 1 |
L_LEG_HIP_ROLL |
L_LEG_HIP_ROLL |
| 2 |
L_LEG_HIP_YAW |
L_LEG_HIP_YAW |
| 3 |
L_LEG_KNEE |
L_LEG_KNEE |
| 4 |
L_LEG_ANKLE_PITCH |
L_LEG_ANKLE_B |
| 5 |
L_LEG_ANKLE_ROLL |
L_LEG_ANKLE_A |
| 6 |
R_LEG_HIP_PITCH |
R_LEG_HIP_PITCH |
| 7 |
R_LEG_HIP_ROLL |
R_LEG_HIP_ROLL |
| 8 |
R_LEG_HIP_YAW |
R_LEG_HIP_YAW |
| 9 |
R_LEG_KNEE |
R_LEG_KNEE |
| 10 |
R_LEG_ANKLE_PITCH |
R_LEG_ANKLE_B |
| 11 |
R_LEG_ANKLE_ROLL |
R_LEG_ANKLE_A |
| 12 |
TORSO |
TORSO |
| 13 |
L_SHOULDER_PITCH |
L_SHOULDER_PITCH |
| 14 |
L_SHOULDER_ROLL |
L_SHOULDER_ROLL |
| 15 |
L_SHOULDER_YAW |
L_SHOULDER_YAW |
| 16 |
L_ELBOW_PITCH |
L_ELBOW_PITCH |
| 17 |
L_ELBOW_ROLL |
L_ELBOW_ROLL |
| 18 |
R_SHOULDER_PITCH |
R_SHOULDER_PITCH |
| 19 |
R_SHOULDER_ROLL |
R_SHOULDER_ROLL |
| 20 |
R_SHOULDER_YAW |
R_SHOULDER_YAW |
| 21 |
R_ELBOW_PITCH |
R_ELBOW_PITCH |
| 22 |
R_ELBOW_ROLL |
R_ELBOW_ROLL |
29DOF 版本
| Joint Index in IDL |
Joint Name (LowCmd_.mode or LowState_.mode == 0) |
Joint Name (LowCmd_.mode or LowState_.mode == 1) |
| 0 |
L_LEG_HIP_PITCH |
L_LEG_HIP_PITCH |
| 1 |
L_LEG_HIP_ROLL |
L_LEG_HIP_ROLL |
| 2 |
L_LEG_HIP_YAW |
L_LEG_HIP_YAW |
| 3 |
L_LEG_KNEE |
L_LEG_KNEE |
| 4 |
L_LEG_ANKLE_PITCH |
L_LEG_ANKLE_B |
| 5 |
L_LEG_ANKLE_ROLL |
L_LEG_ANKLE_A |
| 6 |
R_LEG_HIP_PITCH |
R_LEG_HIP_PITCH |
| 7 |
R_LEG_HIP_ROLL |
R_LEG_HIP_ROLL |
| 8 |
R_LEG_HIP_YAW |
R_LEG_HIP_YAW |
| 9 |
R_LEG_KNEE |
R_LEG_KNEE |
| 10 |
R_LEG_ANKLE_PITCH |
R_LEG_ANKLE_B |
| 11 |
R_LEG_ANKLE_ROLL |
R_LEG_ANKLE_A |
| 12 |
WAIST_YAW |
WAIST_YAW |
| 13 |
WAIST_ROLL |
WAIST_A |
| 14 |
WAIST_PITCH |
WAIST_B |
| 15 |
L_SHOULDER_PITCH |
L_SHOULDER_PITCH |
| 16 |
L_SHOULDER_ROLL |
L_SHOULDER_ROLL |
| 17 |
L_SHOULDER_YAW |
L_SHOULDER_YAW |
| 18 |
L_ELBOW |
L_ELBOW |
| 19 |
L_WRIST_ROLL |
L_WRIST_ROLL |
| 20 |
L_WRIST_PITCH |
L_WRIST_PITCH |
| 21 |
L_WRIST_YAW |
L_WRIST_YAW |
| 22 |
R_SHOULDER_PITCH |
R_SHOULDER_PITCH |
| 23 |
R_SHOULDER_ROLL |
R_SHOULDER_ROLL |
| 24 |
R_SHOULDER_YAW |
R_SHOULDER_YAW |
| 25 |
R_ELBOW |
R_ELBOW |
| 26 |
R_WRIST_ROLL |
R_WRIST_ROLL |
| 27 |
R_WRIST_PITCH |
R_WRIST_PITCH |
| 28 |
R_WRIST_YAW |
R_WRIST_YAW |
14DOF 双臂版本
| Joint Index in IDL |
Joint Name |
| 0 |
(empty) |
| 1 |
(empty) |
| 2 |
(empty) |
| 3 |
(empty) |
| 4 |
(empty) |
| 5 |
(empty) |
| 6 |
(empty) |
| 7 |
(empty) |
| 8 |
(empty) |
| 9 |
(empty) |
| 10 |
(empty) |
| 11 |
(empty) |
| 12 |
(empty) |
| 13 |
(empty) |
| 14 |
(empty) |
| 15 |
L_SHOULDER_PITCH |
| 16 |
L_SHOULDER_ROLL |
| 17 |
L_SHOULDER_YAW |
| 18 |
L_ELBOW |
| 19 |
L_WRIST_ROLL |
| 20 |
L_WRIST_PITCH |
| 21 |
L_WRIST_YAW |
| 22 |
R_SHOULDER_PITCH |
| 23 |
R_SHOULDER_ROLL |
| 24 |
R_SHOULDER_YAW |
| 25 |
R_ELBOW |
| 26 |
R_WRIST_ROLL |
| 27 |
R_WRIST_PITCH |
| 28 |
R_WRIST_YAW |
Dex3-1 关节电机顺序
unitree_hg::msg::dds_::HandCmd_.motor_cmd 与 unitree_hg::msg::dds_::HandState_.motor_state 包含所有的灵巧手电机的信息，其电机顺序如下：
| Hand Joint Index in IDL |
Hand Joint Name |
| 0 |
thumb_0 |
| 1 |
thumb_1 |
| 2 |
thumb_2 |
| 3 |
index_0 |
| 4 |
index_1 |
| 5 |
middle_0 |
| 6 |
middle_1 |