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In this image, we see LHipYawPitch, as well as a dedicated LHipPitch. Why would they combine the yaw and pitch in the upper joint instead of making a dedicated yaw joint? I understand that this makes it more similar to a human hip, but is there any practical advantage?

enter image description here

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  • $\begingroup$ why are you singling out the hip joint? ... several other joints in the picture appear to use the same design $\endgroup$
    – jsotola
    Jul 28 '20 at 7:04
  • $\begingroup$ @jsotola Which other joints combine yaw and pitch on the same axis? I'm not referring to two separate joints that intersect (such as ankle or shoulder), I'm referring to a single joint that rotates along a skewed axis. $\endgroup$
    – pinkie pAI
    Jul 28 '20 at 17:40

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