{
  "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"
      ]
    }
  }
}