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home_en_G1_developer_joint_motor_sequence.md

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Source: https://support.unitree.com/home/en/G1_developer/joint_motor_sequence

Dex3-1 Joint Motor Order

The unitree_hg::msg::dds_::HandCmd_.motor_cmd and unitree_hg::msg::dds_::HandState_.motor_state include information for all motors in the dexterous hand. The motor order is as follows:

Hand Joint Index in IDL Hand Joint Name
0 thumb_0
1 thumb_1
2 thumb_2
3 middle_0
4 middle_1
5 index_0
6 index_1

G1 Full Body Joint Motor Order

The unitree_hg::msg::dds_::LowCmd_.motor_cmd and unitree_hg::msg::dds_::LowState_.motor_state include information for all body motors (excluding the hands) in the G1. The motor order is as follows:

23DOF Version (LowCmd_.mode_machine == 1)

Joint Index in IDL Joint Name (LowCmd_.mode_pr or LowState_.mode_pr == 0) Joint Name (LowCmd_.mode_pr or LowState_.mode_pr == 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 (empty) (empty)
14 (empty) (empty)
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 (empty) (empty)
21 (empty) (empty)
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 (empty) (empty)
28 (empty) (empty)

29DOF Version (LowCmd_.mode_machine == 2)

Joint Index in IDL Joint Name (LowCmd_.mode_pr or LowState_.mode_pr == 0) Joint Name (LowCmd_.mode_pr or LowState_.mode_pr == 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 Version (LowCmd_.mode_machine == 9)

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