unitree go2 sdk order

[CoderWangcai]

Thank you very much for open-sourcing such a fantastic project.

In the configuration file for the Go2, I noticed this section of comments:

      Unitree Go2 SDK order:  
           -0.1 <-3 FR_hip_joint 0 -> 0.0  
           0.8 <- 4 FR_thigh_joint 1 -> 0.9  
           -1.5 <- 5 FR_calf_joint 2 -> -1.8  
           0.1 <- 0 FL_hip_joint 3 -> 0.0  
           0.8 <- 1 FL_thigh_joint 4 -> 0.9  
           -1.5 <- 2 FL_calf_joint 5 -> -1.8  
           -0.1 <- 9 RR_hip_joint 6 -> 0.0  
           1 <- 10 RR_thigh_joint 7 -> 0.9  
           -1.5 <- 11 RR_calf_joint 8 -> -1.8  
           0.1 <- 6 RL_hip_joint 9 -> 0.0  
           1 <- 7 RL_thigh_joint 10 -> 0.9  
           -1.5 <- 8 RL_calf_joint 11 -> -1.8  

I’m very curious about how the mapping relationships (especially the joint angles) were determined.

I’d really appreciate your reply. Thanks!