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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 42 43 44 45 46 | # GR1 Robot Joint Configuration used in the action joint space
# Maps joint names to joint indices for easy reference
joints:
# arm joints
"left_shoulder_pitch_joint": 0
"right_shoulder_pitch_joint": 1
"left_shoulder_roll_joint": 2
"right_shoulder_roll_joint": 3
"left_shoulder_yaw_joint": 4
"right_shoulder_yaw_joint": 5
"left_elbow_pitch_joint": 6
"right_elbow_pitch_joint": 7
"left_wrist_yaw_joint": 8
"right_wrist_yaw_joint": 9
"left_wrist_roll_joint": 10
"right_wrist_roll_joint": 11
"left_wrist_pitch_joint": 12
"right_wrist_pitch_joint": 13
# hand joints
"L_index_proximal_joint": 14
"L_middle_proximal_joint": 15
"L_pinky_proximal_joint": 16
"L_ring_proximal_joint": 17
"L_thumb_proximal_yaw_joint": 18
"R_index_proximal_joint": 19
"R_middle_proximal_joint": 20
"R_pinky_proximal_joint": 21
"R_ring_proximal_joint": 22
"R_thumb_proximal_yaw_joint": 23
"L_index_intermediate_joint": 24
"L_middle_intermediate_joint": 25
"L_pinky_intermediate_joint": 26
"L_ring_intermediate_joint": 27
"L_thumb_proximal_pitch_joint": 28
"R_index_intermediate_joint": 29
"R_middle_intermediate_joint": 30
"R_pinky_intermediate_joint": 31
"R_ring_intermediate_joint": 32
"R_thumb_proximal_pitch_joint": 33
"L_thumb_distal_joint": 34
"R_thumb_distal_joint": 35
# Additional metadata
total_joints: 36
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