| { |
| "action": { |
| "joint_positions": { |
| "modality": "pos", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "arm1_shoulder_lift_joint", |
| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| } |
| }, |
| "observation": { |
| "joint_positions": { |
| "modality": "pos", |
| "shape": [ |
| 34 |
| ], |
| "names": [ |
| "arm1_shoulder_lift_joint", |
| "arm1_elbow_joint", |
| "arm1_wrist_1_joint", |
| "arm1_wrist_2_joint", |
| "arm2_wrist_3_joint", |
| "arm1_wrist_3_joint", |
| "arm2_3f_finger_b_joint_3", |
| "arm1_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_b_joint", |
| "arm2_3f_finger_c_joint_3", |
| "arm2_3f_palm_finger_c_joint", |
| "arm1_3f_finger_c_joint_2", |
| "arm2_3f_finger_a_joint_3", |
| "arm2_3f_finger_c_joint_2", |
| "arm1_3f_finger_b_joint_2", |
| "arm2_3f_finger_c_joint_1", |
| "arm2_wrist_2_joint", |
| "arm1_shoulder_pan_joint", |
| "arm1_3f_finger_c_joint_1", |
| "arm2_3f_finger_b_joint_1", |
| "arm2_shoulder_pan_joint", |
| "arm1_3f_finger_b_joint_3", |
| "arm1_3f_finger_b_joint_1", |
| "arm2_3f_finger_a_joint_2", |
| "arm1_3f_palm_finger_b_joint", |
| "arm1_3f_finger_a_joint_3", |
| "arm2_elbow_joint", |
| "arm1_3f_finger_a_joint_1", |
| "arm2_shoulder_lift_joint", |
| "arm2_3f_finger_b_joint_2", |
| "arm2_3f_finger_a_joint_1", |
| "arm1_3f_palm_finger_c_joint", |
| "arm1_3f_finger_a_joint_2", |
| "arm2_wrist_1_joint" |
| ] |
| } |
| } |
| } |
