joints

⏱ 60s · ref

G1+ has 29 motor joints plus optional Inspire hand joints (6 per hand). Every index below is confirmed against tools/g1_joints.py (mirrors the SDK G1JointIndex) and the live rt/lowstate.

pose map

flowchart TB
  T["🧍 waist<br/>12, 13, 14"]
  LA["🦾 left arm<br/>15 → 21"]
  RA["🦾 right arm<br/>22 → 28"]
  LL["🦵 left leg<br/>0 → 5"]
  RL["🦵 right leg<br/>6 → 11"]

  T --> LA
  T --> RA
  T --> LL
  T --> RL

  classDef core stroke:#2e8b8b,stroke-width:1.5px
  classDef arm stroke:#6ee7b7,stroke-width:1.5px
  classDef leg stroke:#fbbf24,stroke-width:1.5px
  class T core
  class LA,RA arm
  class LL,RL leg

No head motors

The 29-DoF G1 has no head/neck joints — head LED + orientation are handled by the audio/VUI service, not the motor bus. Indices 22–28 are the right arm.

full index (g1_joint_reference)

Names are PascalCase exactly as returned by g1_joint_reference() / g1_joint_name(). g1_joint_index() is case-insensitive on lookup but canonical form is PascalCase. Kp/Kd are the SDK low-level recommended gains (from tools/g1_joints.py::KP_RECOMMENDED / KD_RECOMMENDED).

legs (0–11)

idx	name	Kp	Kd
0	LeftHipPitch	60	1
1	LeftHipRoll	60	1
2	LeftHipYaw	60	1
3	LeftKnee	100	2
4	LeftAnklePitch	40	1
5	LeftAnkleRoll	40	1
6	RightHipPitch	60	1
7	RightHipRoll	60	1
8	RightHipYaw	60	1
9	RightKnee	100	2
10	RightAnklePitch	40	1
11	RightAnkleRoll	40	1

waist (12–14)

idx	name	Kp	Kd	note
12	WaistYaw	60	1
13	WaistRoll	40	1	invalid on 23dof/29dof w/ waist locked
14	WaistPitch	40	1	invalid on 23dof/29dof w/ waist locked

arms (15–28)

idx	name	Kp	Kd	note
15	LeftShoulderPitch	40	1
16	LeftShoulderRoll	40	1
17	LeftShoulderYaw	40	1
18	LeftElbow	40	1
19	LeftWristRoll	40	1
20	LeftWristPitch	40	1	invalid on 23dof
21	LeftWristYaw	40	1	invalid on 23dof
22	RightShoulderPitch	40	1
23	RightShoulderRoll	40	1
24	RightShoulderYaw	40	1
25	RightElbow	40	1
26	RightWristRoll	40	1
27	RightWristPitch	40	1	invalid on 23dof
28	RightWristYaw	40	1	invalid on 23dof

helpers

from tools import g1_joint_name, g1_joint_index, g1_joint_reference

g1_joint_index("LeftElbow")   # → 18  (case-insensitive: "leftelbow" also works)
g1_joint_name(25)             # → {"index":25,"name":"RightElbow","group":"right_arm",...}
g1_joint_reference()          # → full 29-joint table as JSON
g1_joint_reference(group="left_arm")   # → filter by group

reading live values

g1_read_lowstate() returns a summary dict (not raw per-motor arrays): imu_rpy, legs (L/R hip_pitch + knee + avg_knee), posture, max_leg_tau, mode_machine, mode_pr, tick.

from tools import g1_read_lowstate
s = g1_read_lowstate()
print(s["posture"])        # STANDING | SQUATTING / BENT | SITTING / DEEP_SQUAT
print(s["legs"])           # {"L_hip_pitch":..,"L_knee":..,"avg_knee":..}
print(s["imu_rpy"])        # [roll, pitch, yaw]
print(s["max_leg_tau"])    # peak |tau_est| across the 12 leg motors

For raw per-joint q/dq/tau/temperature across all 29 motors, subscribe to rt/lowstate directly via g1_dds and read motor_state[i].

Inspire hand joints (optional)

If the Inspire hands are fitted, 6 joints per hand on rt/inspire/state:

local idx	finger
0	thumb (bend)
1	thumb (rotation)
2	index
3	middle
4	ring
5	pinky

Range: each uint16 0-1000. 0 = closed, 1000 = open.