| { |
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| "robot_type": "rby1m_xhand1", |
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| "total_tasks": 1, |
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| }, |
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| } |
| }, |
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| ], |
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| "wheel_fl", |
| "wheel_rr", |
| "wheel_rl", |
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| "torso_1", |
| "torso_2", |
| "torso_3", |
| "torso_4", |
| "torso_5", |
| "right_arm_0", |
| "right_arm_1", |
| "right_arm_2", |
| "right_arm_3", |
| "right_arm_4", |
| "right_arm_5", |
| "right_arm_6", |
| "right_hand_thumb_bend_joint", |
| "right_hand_thumb_rota_joint1", |
| "right_hand_thumb_rota_joint2", |
| "right_hand_index_bend_joint", |
| "right_hand_index_joint1", |
| "right_hand_index_joint2", |
| "right_hand_mid_joint1", |
| "right_hand_mid_joint2", |
| "right_hand_ring_joint1", |
| "right_hand_ring_joint2", |
| "right_hand_pinky_joint1", |
| "right_hand_pinky_joint2", |
| "left_arm_0", |
| "left_arm_1", |
| "left_arm_2", |
| "left_arm_3", |
| "left_arm_4", |
| "left_arm_5", |
| "left_arm_6", |
| "left_hand_thumb_bend_joint", |
| "left_hand_thumb_rota_joint1", |
| "left_hand_thumb_rota_joint2", |
| "left_hand_index_bend_joint", |
| "left_hand_index_joint1", |
| "left_hand_index_joint2", |
| "left_hand_mid_joint1", |
| "left_hand_mid_joint2", |
| "left_hand_ring_joint1", |
| "left_hand_ring_joint2", |
| "left_hand_pinky_joint1", |
| "left_hand_pinky_joint2", |
| "head_0", |
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| }, |
| "observation.joint_effort": { |
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| "right_hand_pinky_joint1", |
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| "left_hand_thumb_bend_joint", |
| "left_hand_thumb_rota_joint1", |
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| "left_hand_index_bend_joint", |
| "left_hand_index_joint1", |
| "left_hand_index_joint2", |
| "left_hand_mid_joint1", |
| "left_hand_mid_joint2", |
| "left_hand_ring_joint1", |
| "left_hand_ring_joint2", |
| "left_hand_pinky_joint1", |
| "left_hand_pinky_joint2", |
| "head_0", |
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| ], |
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| "left_hand_ring_joint1", |
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| ], |
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| "right_hand_ring_joint1", |
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| "right_hand_pinky_joint2", |
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| "left_hand_ring_joint1", |
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