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| "observation.arm2_3f_finger_a_joint_2.position": { |
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| "observation.arm2_elbow_joint.velocity": { |
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| }, |
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| "observation.arm1_3f_palm_finger_c_joint.velocity": { |
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| "observation.arm1_3f_finger_a_joint_2.velocity": { |
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| }, |
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| }, |
| "observation.arm2_wrist_1_joint.position": { |
| "dtype": "float32", |
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| }, |
| "observation.arm2_wrist_1_joint.velocity": { |
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| }, |
| "observation.arm2_wrist_1_joint.effort": { |
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| }, |
| "observation.state": { |
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| }, |
| "action": { |
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| }, |
| "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" |
| ] |
| } |
