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unitree_mujoco/unitree_robots/g1/g1_joint_index_dds.md

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add G1 robot and support unitree_hg idl
2024-09-19 10:52:12 +08:00
# 电机顺序
## G1 全身关节电机顺序
`unitree_hg::msg::dds_::LowCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::LowState_.motor_state` 包含 G1 全身电机（不含手）的信息，其电机顺序如下：
### 23DOF 版本
| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) |
| ------------------ | ------------------------------------------------ | ------------------------------------------------ |
| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH |
| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL |
| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW |
| 3 | L_LEG_KNEE | L_LEG_KNEE |
| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** |
| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** |
| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH |
| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL |
| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW |
| 9 | R_LEG_KNEE | R_LEG_KNEE |
| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** |
| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** |
| 12 | TORSO | TORSO |
| 13 | L_SHOULDER_PITCH | L_SHOULDER_PITCH |
| 14 | L_SHOULDER_ROLL | L_SHOULDER_ROLL |
| 15 | L_SHOULDER_YAW | L_SHOULDER_YAW |
| 16 | L_ELBOW_PITCH | L_ELBOW_PITCH |
| 17 | L_ELBOW_ROLL | L_ELBOW_ROLL |
| 18 | R_SHOULDER_PITCH | R_SHOULDER_PITCH |
| 19 | R_SHOULDER_ROLL | R_SHOULDER_ROLL |
| 20 | R_SHOULDER_YAW | R_SHOULDER_YAW |
| 21 | R_ELBOW_PITCH | R_ELBOW_PITCH |
| 22 | R_ELBOW_ROLL | R_ELBOW_ROLL |
### 29DOF 版本
| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) |
| ------------------ | ------------------------------------------------ | ------------------------------------------------ |
| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH |
| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL |
| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW |
| 3 | L_LEG_KNEE | L_LEG_KNEE |
| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** |
| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** |
| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH |
| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL |
| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW |
| 9 | R_LEG_KNEE | R_LEG_KNEE |
| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** |
| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** |
| 12 | WAIST_YAW | WAIST_YAW |
| 13 | **WAIST_ROLL** | **WAIST_A** |
| 14 | **WAIST_PITCH** | **WAIST_B** |
| 15 | L_SHOULDER_PITCH | L_SHOULDER_PITCH |
| 16 | L_SHOULDER_ROLL | L_SHOULDER_ROLL |
| 17 | L_SHOULDER_YAW | L_SHOULDER_YAW |
| 18 | L_ELBOW | L_ELBOW |
| 19 | L_WRIST_ROLL | L_WRIST_ROLL |
| 20 | L_WRIST_PITCH | L_WRIST_PITCH |
| 21 | L_WRIST_YAW | L_WRIST_YAW |
| 22 | R_SHOULDER_PITCH | R_SHOULDER_PITCH |
| 23 | R_SHOULDER_ROLL | R_SHOULDER_ROLL |
| 24 | R_SHOULDER_YAW | R_SHOULDER_YAW |
| 25 | R_ELBOW | R_ELBOW |
| 26 | R_WRIST_ROLL | R_WRIST_ROLL |
| 27 | R_WRIST_PITCH | R_WRIST_PITCH |
| 28 | R_WRIST_YAW | R_WRIST_YAW |
### 14DOF 双臂版本
| Joint Index in IDL | Joint Name |
| ------------------ | ---------------- |
| 0 | (empty) |
| 1 | (empty) |
| 2 | (empty) |
| 3 | (empty) |
| 4 | (empty) |
| 5 | (empty) |
| 6 | (empty) |
| 7 | (empty) |
| 8 | (empty) |
| 9 | (empty) |
| 10 | (empty) |
| 11 | (empty) |
| 12 | (empty) |
| 13 | (empty) |
| 14 | (empty) |
| 15 | L_SHOULDER_PITCH |
| 16 | L_SHOULDER_ROLL |
| 17 | L_SHOULDER_YAW |
| 18 | L_ELBOW |
| 19 | L_WRIST_ROLL |
| 20 | L_WRIST_PITCH |
| 21 | L_WRIST_YAW |
| 22 | R_SHOULDER_PITCH |
| 23 | R_SHOULDER_ROLL |
| 24 | R_SHOULDER_YAW |
| 25 | R_ELBOW |
| 26 | R_WRIST_ROLL |
| 27 | R_WRIST_PITCH |
| 28 | R_WRIST_YAW |
## Dex3-1 关节电机顺序
`unitree_hg::msg::dds_::HandCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::HandState_.motor_state` 包含所有的灵巧手电机的信息，其电机顺序如下：
| Hand Joint Index in IDL | Hand Joint Name |
| ----------------------- | --------------- |
| 0 | thumb_0 |
| 1 | thumb_1 |
| 2 | thumb_2 |
| 3 | index_0 |
| 4 | index_1 |
| 5 | middle_0 |
| 6 | middle_1 |