# G1 Robot Joint Configuration used in the action joint space
# Maps joint names to joint indices for easy reference
joints:
  'left_hip_pitch_joint': 0
  'right_hip_pitch_joint': 1
  'waist_yaw_joint': 2
  'left_hip_roll_joint': 3
  'right_hip_roll_joint': 4
  'waist_roll_joint': 5
  'left_hip_yaw_joint': 6
  'right_hip_yaw_joint': 7
  'waist_pitch_joint': 8
  'left_knee_joint': 9
  'right_knee_joint': 10
  'left_shoulder_pitch_joint': 11
  'right_shoulder_pitch_joint': 12
  'left_ankle_pitch_joint': 13
  'right_ankle_pitch_joint': 14
  'left_shoulder_roll_joint': 15
  'right_shoulder_roll_joint': 16
  'left_ankle_roll_joint': 17
  'right_ankle_roll_joint': 18
  'left_shoulder_yaw_joint': 19
  'right_shoulder_yaw_joint': 20
  'left_elbow_joint': 21
  'right_elbow_joint': 22
  'left_wrist_roll_joint': 23
  'right_wrist_roll_joint': 24
  'left_wrist_pitch_joint': 25
  'right_wrist_pitch_joint': 26
  'left_wrist_yaw_joint': 27
  'right_wrist_yaw_joint': 28
  'left_hand_index_0_joint': 29
  'left_hand_middle_0_joint': 30
  'left_hand_thumb_0_joint': 31
  'right_hand_index_0_joint': 32
  'right_hand_middle_0_joint': 33
  'right_hand_thumb_0_joint': 34
  'left_hand_index_1_joint': 35
  'left_hand_middle_1_joint': 36
  'left_hand_thumb_1_joint': 37
  'right_hand_index_1_joint': 38
  'right_hand_middle_1_joint': 39
  'right_hand_thumb_1_joint': 40
  'left_hand_thumb_2_joint': 41
  'right_hand_thumb_2_joint': 42

total_joints: 43