Update README.md

README.md

@@ -1,17 +1,17 @@
----
-license: apache-2.0
-task_categories:
-- robotics
-tags:
-- LeRobot
-- LIBERO
-- RoboCasa
-configs:
-- config_name: default
-  data_files: data/*/*.parquet
-size_categories:
-- 100M<n<1B
----
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- LIBERO
+- RoboCasa
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+size_categories:
+- 100M<n<1B
+---
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
@@ -49,9 +49,9 @@ The action is ordered as: base (3), body (2), left arm (7), right arm (7), left
 The base action is implemented using `RelativeJointPositionActionCfg`.
 
 - **Controlled joints**:
-  - `base_x_joint`
-  - `base_y_joint`
-  - `base_yaw_link`
+  - `base_x_joint` (index 0)
+  - `base_y_joint` (index 1)
+  - `base_yaw_link` (index 2)
 - **Scale**: `0.01`
 
 ```python
@@ -68,8 +68,8 @@ self.action_config.base_action = mdp.RelativeJointPositionActionCfg(
 The body action controls the torso motion and is implemented using `RelativeJointPositionActionCfg`.
 
 - **Controlled joints**:
-  - `body_z_joint`
-  - `body_y_joint`
+  - `body_z_joint` (index 3)
+  - `body_y_joint` (index 4)
 - **Scale**: `0.025`
 
 ```python
@@ -81,11 +81,42 @@ self.action_config.body_action = mdp.RelativeJointPositionActionCfg(
 )
 ```
 
-## 1.2.3 Gripper Action
+## 1.2.3 Arm Action
+
+The arm actions are implemented using `JointPositionActionCfg`.
+
+- **Controlled joints**:
+  - `left_shoulder_y` (index 5), `right_shoulder_y` (index 12)
+  - `left_shoulder_x` (index 6), `right_shoulder_x` (index 13)
+  - `left_shoulder_z` (index 7), `right_shoulder_z` (index 14)
+  - `left_elbow_y` (index 8), `right_elbow_y` (index 15)
+  - `left_elbow_x` (index 9), `right_elbow_x` (index 16)
+  - `left_wrist_y` (index 10), `right_wrist_y` (index 17)
+  - `left_wrist_z` (index 11), `right_wrist_z` (index 18)
+
+```python
+self.action_config.left_arm_action = mdp.JointPositionActionCfg(
+                asset_name="robot", joint_names=["left_shoulder_y", "left_shoulder_x", "left_shoulder_z",
+                                                 "left_elbow_y", "left_elbow_x",
+                                                 "left_wrist_y", "left_wrist_z"],
+                scale=1.0, use_default_offset=True
+            )
+
+self.action_config.right_arm_action = mdp.JointPositionActionCfg(
+    asset_name="robot", joint_names=["right_shoulder_y", "right_shoulder_x", "right_shoulder_z",
+                                     "right_elbow_y", "right_elbow_x",
+                                     "right_wrist_y", "right_wrist_z"],
+    scale=1.0, use_default_offset=True
+)
+```
+
+## 1.2.4 Gripper Action
 
 Grippers are controlled using `BinaryJointPositionActionCfg`. In the action data, `-1` indicates closing the gripper, `+1` indicates opening the gripper.  
 The action commands for opening and closing the left and right grippers are defined as follows:
 
+- **Left gripper** (index 19)
+- **Right gripper** (index 20)
 - **Action cmd**:
   - `-1`: close gripper
   - `+1`: open gripper