Update README.md
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README.md
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@@ -47,11 +47,11 @@ The action is ordered as: left arm (5), right arm (5), left gripper (1), right g
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The arm actions are implemented using `JointPositionActionCfg`.
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- **Controlled joints**:
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- `joint1_l`, `joint1_r`
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- `joint2_l`, `joint2_r`
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- `joint3_l`, `joint3_r`
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- `joint5_l`, `joint5_r`
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- `joint6_l`, `joint6_r`
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```python
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self.action_config.left_arm_action = mdp.JointPositionActionCfg(
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Grippers are controlled using `BinaryJointPositionActionCfg`. In the action data, `-1` indicates closing the gripper, `+1` indicates opening the gripper.
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The action commands for opening and closing the left and right grippers are defined as follows:
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- **Action cmd**:
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- `-1`: close gripper
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- `+1`: open gripper
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The arm actions are implemented using `JointPositionActionCfg`.
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- **Controlled joints**:
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- `joint1_l` (index 0), `joint1_r` (index 5)
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- `joint2_l` (index 1), `joint2_r` (index 6)
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- `joint3_l` (index 2), `joint3_r` (index 7)
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- `joint5_l` (index 3), `joint5_r` (index 8)
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- `joint6_l` (index 4), `joint6_r` (index 9)
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```python
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self.action_config.left_arm_action = mdp.JointPositionActionCfg(
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Grippers are controlled using `BinaryJointPositionActionCfg`. In the action data, `-1` indicates closing the gripper, `+1` indicates opening the gripper.
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The action commands for opening and closing the left and right grippers are defined as follows:
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- **Left gripper** (index 10)
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- **Right gripper** (index 11)
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- **Action cmd**:
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- `-1`: close gripper
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- `+1`: open gripper
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