[Question] Clarification on Joint Dimensions in Observation Space for Unitree G1 in IsaacLab

[XinyuSong123]

Hi,

I plan to use a motion dataset to train the Unitree G1 in IsaacLab. I noticed that the observation space for the joints contains 37 dimensions, but I couldn't find in the documentation which dimensions correspond to specific joints. Could you kindly clarify this? Thank you!

[mpgussert]

Hello @XinyuSong123!

I believe the answers you seek can be found here! https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py

specifically line 273 is where the joints are listed for the robot. If you count up the joints (2x for legs, arms, and feet) you get 38... I can't seem to find an explicit mapping anywhere, so I labeled this thread for the dev team. maybe they can offer insight :D