| # 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: | |
| - "left_hip_yaw" | |
| - "left_hip_roll" | |
| - "left_hip_pitch" | |
| - "left_knee" | |
| - "left_ankle" | |
| - "right_hip_yaw" | |
| - "right_hip_roll" | |
| - "right_hip_pitch" | |
| - "right_knee" | |
| - "right_ankle" | |
| - "torso" | |
| - "left_shoulder_pitch" | |
| - "left_shoulder_roll" | |
| - "left_shoulder_yaw" | |
| - "left_elbow" | |
| - "right_shoulder_pitch" | |
| - "right_shoulder_roll" | |
| - "right_shoulder_yaw" | |
| - "right_elbow" | |
| # Joint names in the target physics engine where policy is deployed (PhysX) | |
| target_joint_names: | |
| - "left_hip_yaw" | |
| - "right_hip_yaw" | |
| - "torso" | |
| - "left_hip_roll" | |
| - "right_hip_roll" | |
| - "left_shoulder_pitch" | |
| - "right_shoulder_pitch" | |
| - "left_hip_pitch" | |
| - "right_hip_pitch" | |
| - "left_shoulder_roll" | |
| - "right_shoulder_roll" | |
| - "left_knee" | |
| - "right_knee" | |
| - "left_shoulder_yaw" | |
| - "right_shoulder_yaw" | |
| - "left_ankle" | |
| - "right_ankle" | |
| - "left_elbow" | |
| - "right_elbow" | |