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42d9709 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | # G1 Robot Joint Configuration used in the action joint space
# Maps joint names to joint indices for easy reference
joints:
# torso and arm joints (pink controller)
"waist_yaw_joint": 0
"waist_roll_joint": 1
"waist_pitch_joint": 2
"left_shoulder_pitch_joint": 3
"right_shoulder_pitch_joint": 4
"left_shoulder_roll_joint": 5
"right_shoulder_roll_joint": 6
"left_shoulder_yaw_joint": 7
"right_shoulder_yaw_joint": 8
"left_elbow_joint": 9
"right_elbow_joint": 10
"left_wrist_roll_joint": 11
"right_wrist_roll_joint": 12
"left_wrist_pitch_joint": 13
"right_wrist_pitch_joint": 14
"left_wrist_yaw_joint": 15
"right_wrist_yaw_joint": 16
# hand joints
"left_hand_index_0_joint": 17
"left_hand_middle_0_joint": 18
"left_hand_thumb_0_joint": 19
"right_hand_index_0_joint": 20
"right_hand_middle_0_joint": 21
"right_hand_thumb_0_joint": 22
"left_hand_index_1_joint": 23
"left_hand_middle_1_joint": 24
"left_hand_thumb_1_joint": 25
"right_hand_index_1_joint": 26
"right_hand_middle_1_joint": 27
"right_hand_thumb_1_joint": 28
"left_hand_thumb_2_joint": 29
"right_hand_thumb_2_joint": 30
# Additional metadata
total_joints: 31
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