#!/usr/bin/env python

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from enum import IntEnum

# ruff: noqa: N801, N815

NUM_MOTORS = 29


class G1_29_JointArmIndex(IntEnum):
    # Left arm
    kLeftShoulderPitch = 15
    kLeftShoulderRoll = 16
    kLeftShoulderYaw = 17
    kLeftElbow = 18
    kLeftWristRoll = 19
    kLeftWristPitch = 20
    kLeftWristyaw = 21

    # Right arm
    kRightShoulderPitch = 22
    kRightShoulderRoll = 23
    kRightShoulderYaw = 24
    kRightElbow = 25
    kRightWristRoll = 26
    kRightWristPitch = 27
    kRightWristYaw = 28


class G1_29_JointIndex(IntEnum):
    # Left leg
    kLeftHipPitch = 0
    kLeftHipRoll = 1
    kLeftHipYaw = 2
    kLeftKnee = 3
    kLeftAnklePitch = 4
    kLeftAnkleRoll = 5

    # Right leg
    kRightHipPitch = 6
    kRightHipRoll = 7
    kRightHipYaw = 8
    kRightKnee = 9
    kRightAnklePitch = 10
    kRightAnkleRoll = 11

    kWaistYaw = 12
    kWaistRoll = 13
    kWaistPitch = 14

    # Left arm
    kLeftShoulderPitch = 15
    kLeftShoulderRoll = 16
    kLeftShoulderYaw = 17
    kLeftElbow = 18
    kLeftWristRoll = 19
    kLeftWristPitch = 20
    kLeftWristyaw = 21

    # Right arm
    kRightShoulderPitch = 22
    kRightShoulderRoll = 23
    kRightShoulderYaw = 24
    kRightElbow = 25
    kRightWristRoll = 26
    kRightWristPitch = 27
    kRightWristYaw = 28
