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| }, | |
| "observation.arm2_wrist_1_joint.position": { | |
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| }, | |
| "observation.arm2_wrist_1_joint.velocity": { | |
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| "shape": [], | |
| "names": null | |
| }, | |
| "observation.arm2_wrist_1_joint.effort": { | |
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| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": null | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 34 | |
| ], | |
| "names": null | |
| }, | |
| "observation.clock.clock": { | |
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| } | |
| }, | |
| "n_joints": 34, | |
| "joint_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" | |
| ] | |
| } |