scripts/config/g1/action_joint_space.yaml

# 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