(joint_name)
| 178 | |
| 179 | |
| 180 | def get_joint_default_pos(joint_name): |
| 181 | for pattern, pos in joint_pos_config.items(): |
| 182 | if pattern.startswith(".*"): |
| 183 | if joint_name.startswith("left") or joint_name.startswith("right"): |
| 184 | if joint_name.endswith(pattern[3:]): |
| 185 | return pos |
| 186 | else: |
| 187 | if joint_name == pattern: |
| 188 | return pos |
| 189 | return 0.0 # 默认值为0 |
| 190 | |
| 191 | |
| 192 | isaaclab_to_mujoco_reindex = [isaaclab_joint_names.index(name) for name in mujoco_joint_names] |