# Copyright (c) 2022-2025, 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"
