| # 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: | |
| - "LF_HAA" | |
| - "LF_HFE" | |
| - "LF_KFE" | |
| - "LH_HAA" | |
| - "LH_HFE" | |
| - "LH_KFE" | |
| - "RF_HAA" | |
| - "RF_HFE" | |
| - "RF_KFE" | |
| - "RH_HAA" | |
| - "RH_HFE" | |
| - "RH_KFE" | |
| # Joint names in the target physics engine where policy is deployed (PhysX) | |
| target_joint_names: | |
| - "LF_HAA" | |
| - "LH_HAA" | |
| - "RF_HAA" | |
| - "RH_HAA" | |
| - "LF_HFE" | |
| - "LH_HFE" | |
| - "RF_HFE" | |
| - "RH_HFE" | |
| - "LF_KFE" | |
| - "LH_KFE" | |
| - "RF_KFE" | |
| - "RH_KFE" | |