| # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). | |
| # All rights reserved. | |
| # | |
| # SPDX-License-Identifier: BSD-3-Clause | |
| # Joint names in the source physics engine where policy is trained (Newton) | |
| source_joint_names: | |
| - "FL_hip_joint" | |
| - "FL_thigh_joint" | |
| - "FL_calf_joint" | |
| - "FR_hip_joint" | |
| - "FR_thigh_joint" | |
| - "FR_calf_joint" | |
| - "RL_hip_joint" | |
| - "RL_thigh_joint" | |
| - "RL_calf_joint" | |
| - "RR_hip_joint" | |
| - "RR_thigh_joint" | |
| - "RR_calf_joint" | |
| # Joint names in the target physics engine where policy is deployed (PhysX) | |
| target_joint_names: | |
| - "FL_hip_joint" | |
| - "FR_hip_joint" | |
| - "RL_hip_joint" | |
| - "RR_hip_joint" | |
| - "FL_thigh_joint" | |
| - "FR_thigh_joint" | |
| - "RL_thigh_joint" | |
| - "RR_thigh_joint" | |
| - "FL_calf_joint" | |
| - "FR_calf_joint" | |
| - "RL_calf_joint" | |
| - "RR_calf_joint" | |