| { | |
| "action": { | |
| "joint_positions": { | |
| "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" | |
| ], | |
| "dtype": "float32" | |
| } | |
| }, | |
| "observation": { | |
| "joint_positions": { | |
| "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" | |
| ], | |
| "dtype": "float32" | |
| } | |
| } | |
| } |