Datasets:
24 episodes · 50 fps · 3 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
1419
],
"names": [
"tcp_x",
"tcp_y",
"tcp_z",
"tcp_r6d_0",
"tcp_r6d_1",
"tcp_r6d_2",
"tcp_r6d_3",
"tcp_r6d_4",
"tcp_r6d_5",
"q0",
"q1",
"q2",
"q3",
"q4",
"q5",
"force_x",
"force_y",
"force_z",
"dx_F0_J0_position",
"dx_F0_J1_position",
"dx_F0_J2_position",
"dx_F0_J3_position",
"dx_F0_J0_position_raw",
"dx_F0_J1_position_raw",
"dx_F0_J2_position_raw",
"dx_F0_J3_position_raw",
"dx_F0_J0_velocity",
"dx_F0_J1_velocity",
"dx_F0_J2_velocity",
"dx_F0_J3_velocity",
"dx_F0_J0_effort",
"dx_F0_J1_effort",
"dx_F0_J2_effort",
"dx_F0_J3_effort",
"dx_F0_J0_commanded_effort",
"dx_F0_J1_commanded_effort",
"dx_F0_J2_commanded_effort",
"dx_F0_J3_commanded_effort",
"dx_F0_J0_commanded_position",
"dx_F0_J1_commanded_position",
"dx_F0_J2_commanded_position",
"dx_F0_J3_commanded_position",
"dx_F0_J0_commanded_velocity",
"dx_F0_J1_commanded_velocity",
"dx_F0_J2_commanded_velocity",
"dx_F0_J3_commanded_velocity",
"dx_F0_J0_commanded_position_effort",
"dx_F0_J1_commanded_position_effort",
"dx_F0_J2_commanded_position_effort",
"dx_F0_J3_commanded_position_effort",
"dx_F0_J0_commanded_feedforward_effort",
"dx_F0_J1_commanded_feedforward_effort",
"dx_F0_J2_commanded_feedforward_effort",
"dx_F0_J3_commanded_feedforward_effort",
"dx_F0_A0_position",
"dx_F0_A1_position",
"dx_F0_A2_position",
"dx_F0_A3_position",
"dx_F0_A4_position",
"dx_F0_A0_temperature",
"dx_F0_A1_temperature",
"dx_F0_A2_temperature",
"dx_F0_A3_temperature",
"dx_F0_A4_temperature",
"dx_F0_A0_velocity",
"dx_F0_A1_velocity",
"dx_F0_A2_velocity",
"dx_F0_A3_velocity",
"dx_F0_A4_velocity",
"dx_F0_A0_effort",
"dx_F0_A1_effort",
"dx_F0_A2_effort",
"dx_F0_A3_effort",
"dx_F0_A4_effort",
"dx_F0_A0_effort_raw",
"dx_F0_A1_effort_raw",
"dx_F0_A2_effort_raw",
"dx_F0_A3_effort_raw",
"dx_F0_A4_effort_raw",
"dx_F0_A0_current",
"dx_F0_A1_current",
"dx_F0_A2_current",
"dx_F0_A3_current",
"dx_F0_A4_current",
"dx_F0_A0_pwm",
"dx_F0_A1_pwm",
"dx_F0_A2_pwm",
"dx_F0_A3_pwm",
"dx_F0_A4_pwm",
"dx_F0_A0_commanded_efforts",
"dx_F0_A1_commanded_efforts",
"dx_F0_A2_commanded_efforts",
"dx_F0_A3_commanded_efforts",
"dx_F0_A4_commanded_efforts",
"dx_F0_MTPROX_0_x",
"dx_F0_MTPROX_0_y",
"dx_F0_MTPROX_0_z",
"dx_F0_MTPROX_0_temperature",
"dx_F0_MTPROX_1_x",
"dx_F0_MTPROX_1_y",
"dx_F0_MTPROX_1_z",
"dx_F0_MTPROX_1_temperature",
"dx_F0_MTPROX_2_x",
"dx_F0_MTPROX_2_y",
"dx_F0_MTPROX_2_z",
"dx_F0_MTPROX_2_temperature",
"dx_F0_MTPROX_3_x",
"dx_F0_MTPROX_3_y",
"dx_F0_MTPROX_3_z",
"dx_F0_MTPROX_3_temperature",
"dx_F0_MTPROX_4_x",
"dx_F0_MTPROX_4_y",
"dx_F0_MTPROX_4_z",
"dx_F0_MTPROX_4_temperature",
"dx_F0_MTPROX_5_x",
"dx_F0_MTPROX_5_y",
"dx_F0_MTPROX_5_z",
"dx_F0_MTPROX_5_temperature",
"dx_F0_MTPROX_6_x",
"dx_F0_MTPROX_6_y",
"dx_F0_MTPROX_6_z",
"dx_F0_MTPROX_6_temperature",
"dx_F0_MTPROX_7_x",
"dx_F0_MTPROX_7_y",
"dx_F0_MTPROX_7_z",
"dx_F0_MTPROX_7_temperature",
"dx_F0_MTPROX_8_x",
"dx_F0_MTPROX_8_y",
"dx_F0_MTPROX_8_z",
"dx_F0_MTPROX_8_temperature",
"dx_F0_MTPROX_9_x",
"dx_F0_MTPROX_9_y",
"dx_F0_MTPROX_9_z",
"dx_F0_MTPROX_9_temperature",
"dx_F0_MTPROX_10_x",
"dx_F0_MTPROX_10_y",
"dx_F0_MTPROX_10_z",
"dx_F0_MTPROX_10_temperature",
"dx_F0_MTPROX_11_x",
"dx_F0_MTPROX_11_y",
"dx_F0_MTPROX_11_z",
"dx_F0_MTPROX_11_temperature",
"dx_F0_MTPROX_12_x",
"dx_F0_MTPROX_12_y",
"dx_F0_MTPROX_12_z",
"dx_F0_MTPROX_12_temperature",
"dx_F0_MTPROX_13_x",
"dx_F0_MTPROX_13_y",
"dx_F0_MTPROX_13_z",
"dx_F0_MTPROX_13_temperature",
"dx_F0_MTPROX_14_x",
"dx_F0_MTPROX_14_y",
"dx_F0_MTPROX_14_z",
"dx_F0_MTPROX_14_temperature",
"dx_F0_MTPROX_15_x",
"dx_F0_MTPROX_15_y",
"dx_F0_MTPROX_15_z",
"dx_F0_MTPROX_15_temperature",
"dx_F0_MTPROX_16_x",
"dx_F0_MTPROX_16_y",
"dx_F0_MTPROX_16_z",
"dx_F0_MTPROX_16_temperature",
"dx_F0_MTPROX_17_x",
"dx_F0_MTPROX_17_y",
"dx_F0_MTPROX_17_z",
"dx_F0_MTPROX_17_temperature",
"dx_F0_MTPROX_18_x",
"dx_F0_MTPROX_18_y",
"dx_F0_MTPROX_18_z",
"dx_F0_MTPROX_18_temperature",
"dx_F0_MTPROX_19_x",
"dx_F0_MTPROX_19_y",
"dx_F0_MTPROX_19_z",
"dx_F0_MTPROX_19_temperature",
"dx_F0_MTPROX_20_x",
"dx_F0_MTPROX_20_y",
"dx_F0_MTPROX_20_z",
"dx_F0_MTPROX_20_temperature",
"dx_F0_MTPROX_21_x",
"dx_F0_MTPROX_21_y",
"dx_F0_MTPROX_21_z",
"dx_F0_MTPROX_21_temperature",
"dx_F0_MTMID_0_x",
"dx_F0_MTMID_0_y",
"dx_F0_MTMID_0_z",
"dx_F0_MTMID_0_temperature",
"dx_F0_MTMID_1_x",
"dx_F0_MTMID_1_y",
"dx_F0_MTMID_1_z",
"dx_F0_MTMID_1_temperature",
"dx_F0_MTMID_2_x",
"dx_F0_MTMID_2_y",
"dx_F0_MTMID_2_z",
"dx_F0_MTMID_2_temperature",
"dx_F0_MTMID_3_x",
"dx_F0_MTMID_3_y",
"dx_F0_MTMID_3_z",
"dx_F0_MTMID_3_temperature",
"dx_F0_MTMID_4_x",
"dx_F0_MTMID_4_y",
"dx_F0_MTMID_4_z",
"dx_F0_MTMID_4_temperature",
"dx_F0_MTMID_5_x",
"dx_F0_MTMID_5_y",
"dx_F0_MTMID_5_z",
"dx_F0_MTMID_5_temperature",
"dx_F0_MTMID_6_x",
"dx_F0_MTMID_6_y",
"dx_F0_MTMID_6_z",
"dx_F0_MTMID_6_temperature",
"dx_F0_MTMID_7_x",
"dx_F0_MTMID_7_y",
"dx_F0_MTMID_7_z",
"dx_F0_MTMID_7_temperature",
"dx_F0_MTMID_8_x",
"dx_F0_MTMID_8_y",
"dx_F0_MTMID_8_z",
"dx_F0_MTMID_8_temperature",
"dx_F0_MTMID_9_x",
"dx_F0_MTMID_9_y",
"dx_F0_MTMID_9_z",
"dx_F0_MTMID_9_temperature",
"dx_F0_MTMID_10_x",
"dx_F0_MTMID_10_y",
"dx_F0_MTMID_10_z",
"dx_F0_MTMID_10_temperature",
"dx_F0_MTMID_11_x",
"dx_F0_MTMID_11_y",
"dx_F0_MTMID_11_z",
"dx_F0_MTMID_11_temperature",
"dx_F0_MTMID_12_x",
"dx_F0_MTMID_12_y",
"dx_F0_MTMID_12_z",
"dx_F0_MTMID_12_temperature",
"dx_F0_MTMID_13_x",
"dx_F0_MTMID_13_y",
"dx_F0_MTMID_13_z",
"dx_F0_MTMID_13_temperature",
"dx_F0_MTDIST_0_x",
"dx_F0_MTDIST_0_y",
"dx_F0_MTDIST_0_z",
"dx_F0_MTDIST_0_temperature",
"dx_F0_MTDIST_1_x",
"dx_F0_MTDIST_1_y",
"dx_F0_MTDIST_1_z",
"dx_F0_MTDIST_1_temperature",
"dx_F0_MTDIST_2_x",
"dx_F0_MTDIST_2_y",
"dx_F0_MTDIST_2_z",
"dx_F0_MTDIST_2_temperature",
"dx_F0_MTDIST_3_x",
"dx_F0_MTDIST_3_y",
"dx_F0_MTDIST_3_z",
"dx_F0_MTDIST_3_temperature",
"dx_F0_MTDIST_4_x",
"dx_F0_MTDIST_4_y",
"dx_F0_MTDIST_4_z",
"dx_F0_MTDIST_4_temperature",
"dx_F0_MTDIST_5_x",
"dx_F0_MTDIST_5_y",
"dx_F0_MTDIST_5_z",
"dx_F0_MTDIST_5_temperature",
"dx_F0_MTDIST_6_x",
"dx_F0_MTDIST_6_y",
"dx_F0_MTDIST_6_z",
"dx_F0_MTDIST_6_temperature",
"dx_F0_MTDIST_7_x",
"dx_F0_MTDIST_7_y",
"dx_F0_MTDIST_7_z",
"dx_F0_MTDIST_7_temperature",
"dx_F0_MTDIST_8_x",
"dx_F0_MTDIST_8_y",
"dx_F0_MTDIST_8_z",
"dx_F0_MTDIST_8_temperature",
"dx_F0_MTDIST_9_x",
"dx_F0_MTDIST_9_y",
"dx_F0_MTDIST_9_z",
"dx_F0_MTDIST_9_temperature",
"dx_F0_MTDIST_10_x",
"dx_F0_MTDIST_10_y",
"dx_F0_MTDIST_10_z",
"dx_F0_MTDIST_10_temperature",
"dx_F0_MTDIST_11_x",
"dx_F0_MTDIST_11_y",
"dx_F0_MTDIST_11_z",
"dx_F0_MTDIST_11_temperature",
"dx_F0_MTDIST_12_x",
"dx_F0_MTDIST_12_y",
"dx_F0_MTDIST_12_z",
"dx_F0_MTDIST_12_temperature",
"dx_F0_MTDIST_13_x",
"dx_F0_MTDIST_13_y",
"dx_F0_MTDIST_13_z",
"dx_F0_MTDIST_13_temperature",
"dx_F0_MTDIST_14_x",
"dx_F0_MTDIST_14_y",
"dx_F0_MTDIST_14_z",
"dx_F0_MTDIST_14_temperature",
"dx_F0_MTDIST_15_x",
"dx_F0_MTDIST_15_y",
"dx_F0_MTDIST_15_z",
"dx_F0_MTDIST_15_temperature",
"dx_F0_MTDIST_16_x",
"dx_F0_MTDIST_16_y",
"dx_F0_MTDIST_16_z",
"dx_F0_MTDIST_16_temperature",
"dx_F0_imu0_orientation_x",
"dx_F0_imu0_orientation_y",
"dx_F0_imu0_orientation_z",
"dx_F0_imu0_orientation_w",
"dx_F0_imu0_orientation_covariance_0",
"dx_F0_imu0_orientation_covariance_1",
"dx_F0_imu0_orientation_covariance_2",
"dx_F0_imu0_orientation_covariance_3",
"dx_F0_imu0_orientation_covariance_4",
"dx_F0_imu0_orientation_covariance_5",
"dx_F0_imu0_orientation_covariance_6",
"dx_F0_imu0_orientation_covariance_7",
"dx_F0_imu0_orientation_covariance_8",
"dx_F0_imu0_angular_velocity_x",
"dx_F0_imu0_angular_velocity_y",
"dx_F0_imu0_angular_velocity_z",
"dx_F0_imu0_angular_velocity_covariance_0",
"dx_F0_imu0_angular_velocity_covariance_1",
"dx_F0_imu0_angular_velocity_covariance_2",
"dx_F0_imu0_angular_velocity_covariance_3",
"dx_F0_imu0_angular_velocity_covariance_4",
"dx_F0_imu0_angular_velocity_covariance_5",
"dx_F0_imu0_angular_velocity_covariance_6",
"dx_F0_imu0_angular_velocity_covariance_7",
"dx_F0_imu0_angular_velocity_covariance_8",
"dx_F0_imu0_linear_acceleration_x",
"dx_F0_imu0_linear_acceleration_y",
"dx_F0_imu0_linear_acceleration_z",
"dx_F0_imu0_linear_acceleration_covariance_0",
"dx_F0_imu0_linear_acceleration_covariance_1",
"dx_F0_imu0_linear_acceleration_covariance_2",
"dx_F0_imu0_linear_acceleration_covariance_3",
"dx_F0_imu0_linear_acceleration_covariance_4",
"dx_F0_imu0_linear_acceleration_covariance_5",
"dx_F0_imu0_linear_acceleration_covariance_6",
"dx_F0_imu0_linear_acceleration_covariance_7",
"dx_F0_imu0_linear_acceleration_covariance_8",
"dx_F0_imu1_orientation_x",
"dx_F0_imu1_orientation_y",
"dx_F0_imu1_orientation_z",
"dx_F0_imu1_orientation_w",
"dx_F0_imu1_orientation_covariance_0",
"dx_F0_imu1_orientation_covariance_1",
"dx_F0_imu1_orientation_covariance_2",
"dx_F0_imu1_orientation_covariance_3",
"dx_F0_imu1_orientation_covariance_4",
"dx_F0_imu1_orientation_covariance_5",
"dx_F0_imu1_orientation_covariance_6",
"dx_F0_imu1_orientation_covariance_7",
"dx_F0_imu1_orientation_covariance_8",
"dx_F0_imu1_angular_velocity_x",
"dx_F0_imu1_angular_velocity_y",
"dx_F0_imu1_angular_velocity_z",
"dx_F0_imu1_angular_velocity_covariance_0",
"dx_F0_imu1_angular_velocity_covariance_1",
"dx_F0_imu1_angular_velocity_covariance_2",
"dx_F0_imu1_angular_velocity_covariance_3",
"dx_F0_imu1_angular_velocity_covariance_4",
"dx_F0_imu1_angular_velocity_covariance_5",
"dx_F0_imu1_angular_velocity_covariance_6",
"dx_F0_imu1_angular_velocity_covariance_7",
"dx_F0_imu1_angular_velocity_covariance_8",
"dx_F0_imu1_linear_acceleration_x",
"dx_F0_imu1_linear_acceleration_y",
"dx_F0_imu1_linear_acceleration_z",
"dx_F0_imu1_linear_acceleration_covariance_0",
"dx_F0_imu1_linear_acceleration_covariance_1",
"dx_F0_imu1_linear_acceleration_covariance_2",
"dx_F0_imu1_linear_acceleration_covariance_3",
"dx_F0_imu1_linear_acceleration_covariance_4",
"dx_F0_imu1_linear_acceleration_covariance_5",
"dx_F0_imu1_linear_acceleration_covariance_6",
"dx_F0_imu1_linear_acceleration_covariance_7",
"dx_F0_imu1_linear_acceleration_covariance_8",
"dx_F0_imu2_orientation_x",
"dx_F0_imu2_orientation_y",
"dx_F0_imu2_orientation_z",
"dx_F0_imu2_orientation_w",
"dx_F0_imu2_orientation_covariance_0",
"dx_F0_imu2_orientation_covariance_1",
"dx_F0_imu2_orientation_covariance_2",
"dx_F0_imu2_orientation_covariance_3",
"dx_F0_imu2_orientation_covariance_4",
"dx_F0_imu2_orientation_covariance_5",
"dx_F0_imu2_orientation_covariance_6",
"dx_F0_imu2_orientation_covariance_7",
"dx_F0_imu2_orientation_covariance_8",
"dx_F0_imu2_angular_velocity_x",
"dx_F0_imu2_angular_velocity_y",
"dx_F0_imu2_angular_velocity_z",
"dx_F0_imu2_angular_velocity_covariance_0",
"dx_F0_imu2_angular_velocity_covariance_1",
"dx_F0_imu2_angular_velocity_covariance_2",
"dx_F0_imu2_angular_velocity_covariance_3",
"dx_F0_imu2_angular_velocity_covariance_4",
"dx_F0_imu2_angular_velocity_covariance_5",
"dx_F0_imu2_angular_velocity_covariance_6",
"dx_F0_imu2_angular_velocity_covariance_7",
"dx_F0_imu2_angular_velocity_covariance_8",
"dx_F0_imu2_linear_acceleration_x",
"dx_F0_imu2_linear_acceleration_y",
"dx_F0_imu2_linear_acceleration_z",
"dx_F0_imu2_linear_acceleration_covariance_0",
"dx_F0_imu2_linear_acceleration_covariance_1",
"dx_F0_imu2_linear_acceleration_covariance_2",
"dx_F0_imu2_linear_acceleration_covariance_3",
"dx_F0_imu2_linear_acceleration_covariance_4",
"dx_F0_imu2_linear_acceleration_covariance_5",
"dx_F0_imu2_linear_acceleration_covariance_6",
"dx_F0_imu2_linear_acceleration_covariance_7",
"dx_F0_imu2_linear_acceleration_covariance_8",
"dx_F0_imu3_orientation_x",
"dx_F0_imu3_orientation_y",
"dx_F0_imu3_orientation_z",
"dx_F0_imu3_orientation_w",
"dx_F0_imu3_orientation_covariance_0",
"dx_F0_imu3_orientation_covariance_1",
"dx_F0_imu3_orientation_covariance_2",
"dx_F0_imu3_orientation_covariance_3",
"dx_F0_imu3_orientation_covariance_4",
"dx_F0_imu3_orientation_covariance_5",
"dx_F0_imu3_orientation_covariance_6",
"dx_F0_imu3_orientation_covariance_7",
"dx_F0_imu3_orientation_covariance_8",
"dx_F0_imu3_angular_velocity_x",
"dx_F0_imu3_angular_velocity_y",
"dx_F0_imu3_angular_velocity_z",
"dx_F0_imu3_angular_velocity_covariance_0",
"dx_F0_imu3_angular_velocity_covariance_1",
"dx_F0_imu3_angular_velocity_covariance_2",
"dx_F0_imu3_angular_velocity_covariance_3",
"dx_F0_imu3_angular_velocity_covariance_4",
"dx_F0_imu3_angular_velocity_covariance_5",
"dx_F0_imu3_angular_velocity_covariance_6",
"dx_F0_imu3_angular_velocity_covariance_7",
"dx_F0_imu3_angular_velocity_covariance_8",
"dx_F0_imu3_linear_acceleration_x",
"dx_F0_imu3_linear_acceleration_y",
"dx_F0_imu3_linear_acceleration_z",
"dx_F0_imu3_linear_acceleration_covariance_0",
"dx_F0_imu3_linear_acceleration_covariance_1",
"dx_F0_imu3_linear_acceleration_covariance_2",
"dx_F0_imu3_linear_acceleration_covariance_3",
"dx_F0_imu3_linear_acceleration_covariance_4",
"dx_F0_imu3_linear_acceleration_covariance_5",
"dx_F0_imu3_linear_acceleration_covariance_6",
"dx_F0_imu3_linear_acceleration_covariance_7",
"dx_F0_imu3_linear_acceleration_covariance_8",
"dx_F1_J0_position",
"dx_F1_J1_position",
"dx_F1_J2_position",
"dx_F1_J3_position",
"dx_F1_J0_position_raw",
"dx_F1_J1_position_raw",
"dx_F1_J2_position_raw",
"dx_F1_J3_position_raw",
"dx_F1_J0_velocity",
"dx_F1_J1_velocity",
"dx_F1_J2_velocity",
"dx_F1_J3_velocity",
"dx_F1_J0_effort",
"dx_F1_J1_effort",
"dx_F1_J2_effort",
"dx_F1_J3_effort",
"dx_F1_J0_commanded_effort",
"dx_F1_J1_commanded_effort",
"dx_F1_J2_commanded_effort",
"dx_F1_J3_commanded_effort",
"dx_F1_J0_commanded_position",
"dx_F1_J1_commanded_position",
"dx_F1_J2_commanded_position",
"dx_F1_J3_commanded_position",
"dx_F1_J0_commanded_velocity",
"dx_F1_J1_commanded_velocity",
"dx_F1_J2_commanded_velocity",
"dx_F1_J3_commanded_velocity",
"dx_F1_J0_commanded_position_effort",
"dx_F1_J1_commanded_position_effort",
"dx_F1_J2_commanded_position_effort",
"dx_F1_J3_commanded_position_effort",
"dx_F1_J0_commanded_feedforward_effort",
"dx_F1_J1_commanded_feedforward_effort",
"dx_F1_J2_commanded_feedforward_effort",
"dx_F1_J3_commanded_feedforward_effort",
"dx_F1_A0_position",
"dx_F1_A1_position",
"dx_F1_A2_position",
"dx_F1_A3_position",
"dx_F1_A4_position",
"dx_F1_A0_temperature",
"dx_F1_A1_temperature",
"dx_F1_A2_temperature",
"dx_F1_A3_temperature",
"dx_F1_A4_temperature",
"dx_F1_A0_velocity",
"dx_F1_A1_velocity",
"dx_F1_A2_velocity",
"dx_F1_A3_velocity",
"dx_F1_A4_velocity",
"dx_F1_A0_effort",
"dx_F1_A1_effort",
"dx_F1_A2_effort",
"dx_F1_A3_effort",
"dx_F1_A4_effort",
"dx_F1_A0_effort_raw",
"dx_F1_A1_effort_raw",
"dx_F1_A2_effort_raw",
"dx_F1_A3_effort_raw",
"dx_F1_A4_effort_raw",
"dx_F1_A0_current",
"dx_F1_A1_current",
"dx_F1_A2_current",
"dx_F1_A3_current",
"dx_F1_A4_current",
"dx_F1_A0_pwm",
"dx_F1_A1_pwm",
"dx_F1_A2_pwm",
"dx_F1_A3_pwm",
"dx_F1_A4_pwm",
"dx_F1_A0_commanded_efforts",
"dx_F1_A1_commanded_efforts",
"dx_F1_A2_commanded_efforts",
"dx_F1_A3_commanded_efforts",
"dx_F1_A4_commanded_efforts",
"dx_F1_MTPROX_0_x",
"dx_F1_MTPROX_0_y",
"dx_F1_MTPROX_0_z",
"dx_F1_MTPROX_0_temperature",
"dx_F1_MTPROX_1_x",
"dx_F1_MTPROX_1_y",
"dx_F1_MTPROX_1_z",
"dx_F1_MTPROX_1_temperature",
"dx_F1_MTPROX_2_x",
"dx_F1_MTPROX_2_y",
"dx_F1_MTPROX_2_z",
"dx_F1_MTPROX_2_temperature",
"dx_F1_MTPROX_3_x",
"dx_F1_MTPROX_3_y",
"dx_F1_MTPROX_3_z",
"dx_F1_MTPROX_3_temperature",
"dx_F1_MTPROX_4_x",
"dx_F1_MTPROX_4_y",
"dx_F1_MTPROX_4_z",
"dx_F1_MTPROX_4_temperature",
"dx_F1_MTPROX_5_x",
"dx_F1_MTPROX_5_y",
"dx_F1_MTPROX_5_z",
"dx_F1_MTPROX_5_temperature",
"dx_F1_MTPROX_6_x",
"dx_F1_MTPROX_6_y",
"dx_F1_MTPROX_6_z",
"dx_F1_MTPROX_6_temperature",
"dx_F1_MTPROX_7_x",
"dx_F1_MTPROX_7_y",
"dx_F1_MTPROX_7_z",
"dx_F1_MTPROX_7_temperature",
"dx_F1_MTPROX_8_x",
"dx_F1_MTPROX_8_y",
"dx_F1_MTPROX_8_z",
"dx_F1_MTPROX_8_temperature",
"dx_F1_MTPROX_9_x",
"dx_F1_MTPROX_9_y",
"dx_F1_MTPROX_9_z",
"dx_F1_MTPROX_9_temperature",
"dx_F1_MTPROX_10_x",
"dx_F1_MTPROX_10_y",
"dx_F1_MTPROX_10_z",
"dx_F1_MTPROX_10_temperature",
"dx_F1_MTPROX_11_x",
"dx_F1_MTPROX_11_y",
"dx_F1_MTPROX_11_z",
"dx_F1_MTPROX_11_temperature",
"dx_F1_MTPROX_12_x",
"dx_F1_MTPROX_12_y",
"dx_F1_MTPROX_12_z",
"dx_F1_MTPROX_12_temperature",
"dx_F1_MTPROX_13_x",
"dx_F1_MTPROX_13_y",
"dx_F1_MTPROX_13_z",
"dx_F1_MTPROX_13_temperature",
"dx_F1_MTPROX_14_x",
"dx_F1_MTPROX_14_y",
"dx_F1_MTPROX_14_z",
"dx_F1_MTPROX_14_temperature",
"dx_F1_MTPROX_15_x",
"dx_F1_MTPROX_15_y",
"dx_F1_MTPROX_15_z",
"dx_F1_MTPROX_15_temperature",
"dx_F1_MTPROX_16_x",
"dx_F1_MTPROX_16_y",
"dx_F1_MTPROX_16_z",
"dx_F1_MTPROX_16_temperature",
"dx_F1_MTPROX_17_x",
"dx_F1_MTPROX_17_y",
"dx_F1_MTPROX_17_z",
"dx_F1_MTPROX_17_temperature",
"dx_F1_MTPROX_18_x",
"dx_F1_MTPROX_18_y",
"dx_F1_MTPROX_18_z",
"dx_F1_MTPROX_18_temperature",
"dx_F1_MTPROX_19_x",
"dx_F1_MTPROX_19_y",
"dx_F1_MTPROX_19_z",
"dx_F1_MTPROX_19_temperature",
"dx_F1_MTPROX_20_x",
"dx_F1_MTPROX_20_y",
"dx_F1_MTPROX_20_z",
"dx_F1_MTPROX_20_temperature",
"dx_F1_MTPROX_21_x",
"dx_F1_MTPROX_21_y",
"dx_F1_MTPROX_21_z",
"dx_F1_MTPROX_21_temperature",
"dx_F1_MTMID_0_x",
"dx_F1_MTMID_0_y",
"dx_F1_MTMID_0_z",
"dx_F1_MTMID_0_temperature",
"dx_F1_MTMID_1_x",
"dx_F1_MTMID_1_y",
"dx_F1_MTMID_1_z",
"dx_F1_MTMID_1_temperature",
"dx_F1_MTMID_2_x",
"dx_F1_MTMID_2_y",
"dx_F1_MTMID_2_z",
"dx_F1_MTMID_2_temperature",
"dx_F1_MTMID_3_x",
"dx_F1_MTMID_3_y",
"dx_F1_MTMID_3_z",
"dx_F1_MTMID_3_temperature",
"dx_F1_MTMID_4_x",
"dx_F1_MTMID_4_y",
"dx_F1_MTMID_4_z",
"dx_F1_MTMID_4_temperature",
"dx_F1_MTMID_5_x",
"dx_F1_MTMID_5_y",
"dx_F1_MTMID_5_z",
"dx_F1_MTMID_5_temperature",
"dx_F1_MTMID_6_x",
"dx_F1_MTMID_6_y",
"dx_F1_MTMID_6_z",
"dx_F1_MTMID_6_temperature",
"dx_F1_MTMID_7_x",
"dx_F1_MTMID_7_y",
"dx_F1_MTMID_7_z",
"dx_F1_MTMID_7_temperature",
"dx_F1_MTMID_8_x",
"dx_F1_MTMID_8_y",
"dx_F1_MTMID_8_z",
"dx_F1_MTMID_8_temperature",
"dx_F1_MTMID_9_x",
"dx_F1_MTMID_9_y",
"dx_F1_MTMID_9_z",
"dx_F1_MTMID_9_temperature",
"dx_F1_MTMID_10_x",
"dx_F1_MTMID_10_y",
"dx_F1_MTMID_10_z",
"dx_F1_MTMID_10_temperature",
"dx_F1_MTMID_11_x",
"dx_F1_MTMID_11_y",
"dx_F1_MTMID_11_z",
"dx_F1_MTMID_11_temperature",
"dx_F1_MTMID_12_x",
"dx_F1_MTMID_12_y",
"dx_F1_MTMID_12_z",
"dx_F1_MTMID_12_temperature",
"dx_F1_MTMID_13_x",
"dx_F1_MTMID_13_y",
"dx_F1_MTMID_13_z",
"dx_F1_MTMID_13_temperature",
"dx_F1_MTDIST_0_x",
"dx_F1_MTDIST_0_y",
"dx_F1_MTDIST_0_z",
"dx_F1_MTDIST_0_temperature",
"dx_F1_MTDIST_1_x",
"dx_F1_MTDIST_1_y",
"dx_F1_MTDIST_1_z",
"dx_F1_MTDIST_1_temperature",
"dx_F1_MTDIST_2_x",
"dx_F1_MTDIST_2_y",
"dx_F1_MTDIST_2_z",
"dx_F1_MTDIST_2_temperature",
"dx_F1_MTDIST_3_x",
"dx_F1_MTDIST_3_y",
"dx_F1_MTDIST_3_z",
"dx_F1_MTDIST_3_temperature",
"dx_F1_MTDIST_4_x",
"dx_F1_MTDIST_4_y",
"dx_F1_MTDIST_4_z",
"dx_F1_MTDIST_4_temperature",
"dx_F1_MTDIST_5_x",
"dx_F1_MTDIST_5_y",
"dx_F1_MTDIST_5_z",
"dx_F1_MTDIST_5_temperature",
"dx_F1_MTDIST_6_x",
"dx_F1_MTDIST_6_y",
"dx_F1_MTDIST_6_z",
"dx_F1_MTDIST_6_temperature",
"dx_F1_MTDIST_7_x",
"dx_F1_MTDIST_7_y",
"dx_F1_MTDIST_7_z",
"dx_F1_MTDIST_7_temperature",
"dx_F1_MTDIST_8_x",
"dx_F1_MTDIST_8_y",
"dx_F1_MTDIST_8_z",
"dx_F1_MTDIST_8_temperature",
"dx_F1_MTDIST_9_x",
"dx_F1_MTDIST_9_y",
"dx_F1_MTDIST_9_z",
"dx_F1_MTDIST_9_temperature",
"dx_F1_MTDIST_10_x",
"dx_F1_MTDIST_10_y",
"dx_F1_MTDIST_10_z",
"dx_F1_MTDIST_10_temperature",
"dx_F1_MTDIST_11_x",
"dx_F1_MTDIST_11_y",
"dx_F1_MTDIST_11_z",
"dx_F1_MTDIST_11_temperature",
"dx_F1_MTDIST_12_x",
"dx_F1_MTDIST_12_y",
"dx_F1_MTDIST_12_z",
"dx_F1_MTDIST_12_temperature",
"dx_F1_MTDIST_13_x",
"dx_F1_MTDIST_13_y",
"dx_F1_MTDIST_13_z",
"dx_F1_MTDIST_13_temperature",
"dx_F1_MTDIST_14_x",
"dx_F1_MTDIST_14_y",
"dx_F1_MTDIST_14_z",
"dx_F1_MTDIST_14_temperature",
"dx_F1_MTDIST_15_x",
"dx_F1_MTDIST_15_y",
"dx_F1_MTDIST_15_z",
"dx_F1_MTDIST_15_temperature",
"dx_F1_MTDIST_16_x",
"dx_F1_MTDIST_16_y",
"dx_F1_MTDIST_16_z",
"dx_F1_MTDIST_16_temperature",
"dx_F1_imu0_orientation_x",
"dx_F1_imu0_orientation_y",
"dx_F1_imu0_orientation_z",
"dx_F1_imu0_orientation_w",
"dx_F1_imu0_orientation_covariance_0",
"dx_F1_imu0_orientation_covariance_1",
"dx_F1_imu0_orientation_covariance_2",
"dx_F1_imu0_orientation_covariance_3",
"dx_F1_imu0_orientation_covariance_4",
"dx_F1_imu0_orientation_covariance_5",
"dx_F1_imu0_orientation_covariance_6",
"dx_F1_imu0_orientation_covariance_7",
"dx_F1_imu0_orientation_covariance_8",
"dx_F1_imu0_angular_velocity_x",
"dx_F1_imu0_angular_velocity_y",
"dx_F1_imu0_angular_velocity_z",
"dx_F1_imu0_angular_velocity_covariance_0",
"dx_F1_imu0_angular_velocity_covariance_1",
"dx_F1_imu0_angular_velocity_covariance_2",
"dx_F1_imu0_angular_velocity_covariance_3",
"dx_F1_imu0_angular_velocity_covariance_4",
"dx_F1_imu0_angular_velocity_covariance_5",
"dx_F1_imu0_angular_velocity_covariance_6",
"dx_F1_imu0_angular_velocity_covariance_7",
"dx_F1_imu0_angular_velocity_covariance_8",
"dx_F1_imu0_linear_acceleration_x",
"dx_F1_imu0_linear_acceleration_y",
"dx_F1_imu0_linear_acceleration_z",
"dx_F1_imu0_linear_acceleration_covariance_0",
"dx_F1_imu0_linear_acceleration_covariance_1",
"dx_F1_imu0_linear_acceleration_covariance_2",
"dx_F1_imu0_linear_acceleration_covariance_3",
"dx_F1_imu0_linear_acceleration_covariance_4",
"dx_F1_imu0_linear_acceleration_covariance_5",
"dx_F1_imu0_linear_acceleration_covariance_6",
"dx_F1_imu0_linear_acceleration_covariance_7",
"dx_F1_imu0_linear_acceleration_covariance_8",
"dx_F1_imu1_orientation_x",
"dx_F1_imu1_orientation_y",
"dx_F1_imu1_orientation_z",
"dx_F1_imu1_orientation_w",
"dx_F1_imu1_orientation_covariance_0",
"dx_F1_imu1_orientation_covariance_1",
"dx_F1_imu1_orientation_covariance_2",
"dx_F1_imu1_orientation_covariance_3",
"dx_F1_imu1_orientation_covariance_4",
"dx_F1_imu1_orientation_covariance_5",
"dx_F1_imu1_orientation_covariance_6",
"dx_F1_imu1_orientation_covariance_7",
"dx_F1_imu1_orientation_covariance_8",
"dx_F1_imu1_angular_velocity_x",
"dx_F1_imu1_angular_velocity_y",
"dx_F1_imu1_angular_velocity_z",
"dx_F1_imu1_angular_velocity_covariance_0",
"dx_F1_imu1_angular_velocity_covariance_1",
"dx_F1_imu1_angular_velocity_covariance_2",
"dx_F1_imu1_angular_velocity_covariance_3",
"dx_F1_imu1_angular_velocity_covariance_4",
"dx_F1_imu1_angular_velocity_covariance_5",
"dx_F1_imu1_angular_velocity_covariance_6",
"dx_F1_imu1_angular_velocity_covariance_7",
"dx_F1_imu1_angular_velocity_covariance_8",
"dx_F1_imu1_linear_acceleration_x",
"dx_F1_imu1_linear_acceleration_y",
"dx_F1_imu1_linear_acceleration_z",
"dx_F1_imu1_linear_acceleration_covariance_0",
"dx_F1_imu1_linear_acceleration_covariance_1",
"dx_F1_imu1_linear_acceleration_covariance_2",
"dx_F1_imu1_linear_acceleration_covariance_3",
"dx_F1_imu1_linear_acceleration_covariance_4",
"dx_F1_imu1_linear_acceleration_covariance_5",
"dx_F1_imu1_linear_acceleration_covariance_6",
"dx_F1_imu1_linear_acceleration_covariance_7",
"dx_F1_imu1_linear_acceleration_covariance_8",
"dx_F1_imu2_orientation_x",
"dx_F1_imu2_orientation_y",
"dx_F1_imu2_orientation_z",
"dx_F1_imu2_orientation_w",
"dx_F1_imu2_orientation_covariance_0",
"dx_F1_imu2_orientation_covariance_1",
"dx_F1_imu2_orientation_covariance_2",
"dx_F1_imu2_orientation_covariance_3",
"dx_F1_imu2_orientation_covariance_4",
"dx_F1_imu2_orientation_covariance_5",
"dx_F1_imu2_orientation_covariance_6",
"dx_F1_imu2_orientation_covariance_7",
"dx_F1_imu2_orientation_covariance_8",
"dx_F1_imu2_angular_velocity_x",
"dx_F1_imu2_angular_velocity_y",
"dx_F1_imu2_angular_velocity_z",
"dx_F1_imu2_angular_velocity_covariance_0",
"dx_F1_imu2_angular_velocity_covariance_1",
"dx_F1_imu2_angular_velocity_covariance_2",
"dx_F1_imu2_angular_velocity_covariance_3",
"dx_F1_imu2_angular_velocity_covariance_4",
"dx_F1_imu2_angular_velocity_covariance_5",
"dx_F1_imu2_angular_velocity_covariance_6",
"dx_F1_imu2_angular_velocity_covariance_7",
"dx_F1_imu2_angular_velocity_covariance_8",
"dx_F1_imu2_linear_acceleration_x",
"dx_F1_imu2_linear_acceleration_y",
"dx_F1_imu2_linear_acceleration_z",
"dx_F1_imu2_linear_acceleration_covariance_0",
"dx_F1_imu2_linear_acceleration_covariance_1",
"dx_F1_imu2_linear_acceleration_covariance_2",
"dx_F1_imu2_linear_acceleration_covariance_3",
"dx_F1_imu2_linear_acceleration_covariance_4",
"dx_F1_imu2_linear_acceleration_covariance_5",
"dx_F1_imu2_linear_acceleration_covariance_6",
"dx_F1_imu2_linear_acceleration_covariance_7",
"dx_F1_imu2_linear_acceleration_covariance_8",
"dx_F1_imu3_orientation_x",
"dx_F1_imu3_orientation_y",
"dx_F1_imu3_orientation_z",
"dx_F1_imu3_orientation_w",
"dx_F1_imu3_orientation_covariance_0",
"dx_F1_imu3_orientation_covariance_1",
"dx_F1_imu3_orientation_covariance_2",
"dx_F1_imu3_orientation_covariance_3",
"dx_F1_imu3_orientation_covariance_4",
"dx_F1_imu3_orientation_covariance_5",
"dx_F1_imu3_orientation_covariance_6",
"dx_F1_imu3_orientation_covariance_7",
"dx_F1_imu3_orientation_covariance_8",
"dx_F1_imu3_angular_velocity_x",
"dx_F1_imu3_angular_velocity_y",
"dx_F1_imu3_angular_velocity_z",
"dx_F1_imu3_angular_velocity_covariance_0",
"dx_F1_imu3_angular_velocity_covariance_1",
"dx_F1_imu3_angular_velocity_covariance_2",
"dx_F1_imu3_angular_velocity_covariance_3",
"dx_F1_imu3_angular_velocity_covariance_4",
"dx_F1_imu3_angular_velocity_covariance_5",
"dx_F1_imu3_angular_velocity_covariance_6",
"dx_F1_imu3_angular_velocity_covariance_7",
"dx_F1_imu3_angular_velocity_covariance_8",
"dx_F1_imu3_linear_acceleration_x",
"dx_F1_imu3_linear_acceleration_y",
"dx_F1_imu3_linear_acceleration_z",
"dx_F1_imu3_linear_acceleration_covariance_0",
"dx_F1_imu3_linear_acceleration_covariance_1",
"dx_F1_imu3_linear_acceleration_covariance_2",
"dx_F1_imu3_linear_acceleration_covariance_3",
"dx_F1_imu3_linear_acceleration_covariance_4",
"dx_F1_imu3_linear_acceleration_covariance_5",
"dx_F1_imu3_linear_acceleration_covariance_6",
"dx_F1_imu3_linear_acceleration_covariance_7",
"dx_F1_imu3_linear_acceleration_covariance_8",
"dx_F2_J0_position",
"dx_F2_J1_position",
"dx_F2_J2_position",
"dx_F2_J3_position",
"dx_F2_J0_position_raw",
"dx_F2_J1_position_raw",
"dx_F2_J2_position_raw",
"dx_F2_J3_position_raw",
"dx_F2_J0_velocity",
"dx_F2_J1_velocity",
"dx_F2_J2_velocity",
"dx_F2_J3_velocity",
"dx_F2_J0_effort",
"dx_F2_J1_effort",
"dx_F2_J2_effort",
"dx_F2_J3_effort",
"dx_F2_J0_commanded_effort",
"dx_F2_J1_commanded_effort",
"dx_F2_J2_commanded_effort",
"dx_F2_J3_commanded_effort",
"dx_F2_J0_commanded_position",
"dx_F2_J1_commanded_position",
"dx_F2_J2_commanded_position",
"dx_F2_J3_commanded_position",
"dx_F2_J0_commanded_velocity",
"dx_F2_J1_commanded_velocity",
"dx_F2_J2_commanded_velocity",
"dx_F2_J3_commanded_velocity",
"dx_F2_J0_commanded_position_effort",
"dx_F2_J1_commanded_position_effort",
"dx_F2_J2_commanded_position_effort",
"dx_F2_J3_commanded_position_effort",
"dx_F2_J0_commanded_feedforward_effort",
"dx_F2_J1_commanded_feedforward_effort",
"dx_F2_J2_commanded_feedforward_effort",
"dx_F2_J3_commanded_feedforward_effort",
"dx_F2_A0_position",
"dx_F2_A1_position",
"dx_F2_A2_position",
"dx_F2_A3_position",
"dx_F2_A4_position",
"dx_F2_A0_temperature",
"dx_F2_A1_temperature",
"dx_F2_A2_temperature",
"dx_F2_A3_temperature",
"dx_F2_A4_temperature",
"dx_F2_A0_velocity",
"dx_F2_A1_velocity",
"dx_F2_A2_velocity",
"dx_F2_A3_velocity",
"dx_F2_A4_velocity",
"dx_F2_A0_effort",
"dx_F2_A1_effort",
"dx_F2_A2_effort",
"dx_F2_A3_effort",
"dx_F2_A4_effort",
"dx_F2_A0_effort_raw",
"dx_F2_A1_effort_raw",
"dx_F2_A2_effort_raw",
"dx_F2_A3_effort_raw",
"dx_F2_A4_effort_raw",
"dx_F2_A0_current",
"dx_F2_A1_current",
"dx_F2_A2_current",
"dx_F2_A3_current",
"dx_F2_A4_current",
"dx_F2_A0_pwm",
"dx_F2_A1_pwm",
"dx_F2_A2_pwm",
"dx_F2_A3_pwm",
"dx_F2_A4_pwm",
"dx_F2_A0_commanded_efforts",
"dx_F2_A1_commanded_efforts",
"dx_F2_A2_commanded_efforts",
"dx_F2_A3_commanded_efforts",
"dx_F2_A4_commanded_efforts",
"dx_F2_MTPROX_0_x",
"dx_F2_MTPROX_0_y",
"dx_F2_MTPROX_0_z",
"dx_F2_MTPROX_0_temperature",
"dx_F2_MTPROX_1_x",
"dx_F2_MTPROX_1_y",
"dx_F2_MTPROX_1_z",
"dx_F2_MTPROX_1_temperature",
"dx_F2_MTPROX_2_x",
"dx_F2_MTPROX_2_y",
"dx_F2_MTPROX_2_z",
"dx_F2_MTPROX_2_temperature",
"dx_F2_MTPROX_3_x",
"dx_F2_MTPROX_3_y",
"dx_F2_MTPROX_3_z",
"dx_F2_MTPROX_3_temperature",
"dx_F2_MTPROX_4_x",
"dx_F2_MTPROX_4_y",
"dx_F2_MTPROX_4_z",
"dx_F2_MTPROX_4_temperature",
"dx_F2_MTPROX_5_x",
"dx_F2_MTPROX_5_y",
"dx_F2_MTPROX_5_z",
"dx_F2_MTPROX_5_temperature",
"dx_F2_MTPROX_6_x",
"dx_F2_MTPROX_6_y",
"dx_F2_MTPROX_6_z",
"dx_F2_MTPROX_6_temperature",
"dx_F2_MTPROX_7_x",
"dx_F2_MTPROX_7_y",
"dx_F2_MTPROX_7_z",
"dx_F2_MTPROX_7_temperature",
"dx_F2_MTPROX_8_x",
"dx_F2_MTPROX_8_y",
"dx_F2_MTPROX_8_z",
"dx_F2_MTPROX_8_temperature",
"dx_F2_MTPROX_9_x",
"dx_F2_MTPROX_9_y",
"dx_F2_MTPROX_9_z",
"dx_F2_MTPROX_9_temperature",
"dx_F2_MTPROX_10_x",
"dx_F2_MTPROX_10_y",
"dx_F2_MTPROX_10_z",
"dx_F2_MTPROX_10_temperature",
"dx_F2_MTPROX_11_x",
"dx_F2_MTPROX_11_y",
"dx_F2_MTPROX_11_z",
"dx_F2_MTPROX_11_temperature",
"dx_F2_MTPROX_12_x",
"dx_F2_MTPROX_12_y",
"dx_F2_MTPROX_12_z",
"dx_F2_MTPROX_12_temperature",
"dx_F2_MTPROX_13_x",
"dx_F2_MTPROX_13_y",
"dx_F2_MTPROX_13_z",
"dx_F2_MTPROX_13_temperature",
"dx_F2_MTPROX_14_x",
"dx_F2_MTPROX_14_y",
"dx_F2_MTPROX_14_z",
"dx_F2_MTPROX_14_temperature",
"dx_F2_MTPROX_15_x",
"dx_F2_MTPROX_15_y",
"dx_F2_MTPROX_15_z",
"dx_F2_MTPROX_15_temperature",
"dx_F2_MTPROX_16_x",
"dx_F2_MTPROX_16_y",
"dx_F2_MTPROX_16_z",
"dx_F2_MTPROX_16_temperature",
"dx_F2_MTPROX_17_x",
"dx_F2_MTPROX_17_y",
"dx_F2_MTPROX_17_z",
"dx_F2_MTPROX_17_temperature",
"dx_F2_MTPROX_18_x",
"dx_F2_MTPROX_18_y",
"dx_F2_MTPROX_18_z",
"dx_F2_MTPROX_18_temperature",
"dx_F2_MTPROX_19_x",
"dx_F2_MTPROX_19_y",
"dx_F2_MTPROX_19_z",
"dx_F2_MTPROX_19_temperature",
"dx_F2_MTPROX_20_x",
"dx_F2_MTPROX_20_y",
"dx_F2_MTPROX_20_z",
"dx_F2_MTPROX_20_temperature",
"dx_F2_MTPROX_21_x",
"dx_F2_MTPROX_21_y",
"dx_F2_MTPROX_21_z",
"dx_F2_MTPROX_21_temperature",
"dx_F2_MTMID_0_x",
"dx_F2_MTMID_0_y",
"dx_F2_MTMID_0_z",
"dx_F2_MTMID_0_temperature",
"dx_F2_MTMID_1_x",
"dx_F2_MTMID_1_y",
"dx_F2_MTMID_1_z",
"dx_F2_MTMID_1_temperature",
"dx_F2_MTMID_2_x",
"dx_F2_MTMID_2_y",
"dx_F2_MTMID_2_z",
"dx_F2_MTMID_2_temperature",
"dx_F2_MTMID_3_x",
"dx_F2_MTMID_3_y",
"dx_F2_MTMID_3_z",
"dx_F2_MTMID_3_temperature",
"dx_F2_MTMID_4_x",
"dx_F2_MTMID_4_y",
"dx_F2_MTMID_4_z",
"dx_F2_MTMID_4_temperature",
"dx_F2_MTMID_5_x",
"dx_F2_MTMID_5_y",
"dx_F2_MTMID_5_z",
"dx_F2_MTMID_5_temperature",
"dx_F2_MTMID_6_x",
"dx_F2_MTMID_6_y",
"dx_F2_MTMID_6_z",
"dx_F2_MTMID_6_temperature",
"dx_F2_MTMID_7_x",
"dx_F2_MTMID_7_y",
"dx_F2_MTMID_7_z",
"dx_F2_MTMID_7_temperature",
"dx_F2_MTMID_8_x",
"dx_F2_MTMID_8_y",
"dx_F2_MTMID_8_z",
"dx_F2_MTMID_8_temperature",
"dx_F2_MTMID_9_x",
"dx_F2_MTMID_9_y",
"dx_F2_MTMID_9_z",
"dx_F2_MTMID_9_temperature",
"dx_F2_MTMID_10_x",
"dx_F2_MTMID_10_y",
"dx_F2_MTMID_10_z",
"dx_F2_MTMID_10_temperature",
"dx_F2_MTMID_11_x",
"dx_F2_MTMID_11_y",
"dx_F2_MTMID_11_z",
"dx_F2_MTMID_11_temperature",
"dx_F2_MTMID_12_x",
"dx_F2_MTMID_12_y",
"dx_F2_MTMID_12_z",
"dx_F2_MTMID_12_temperature",
"dx_F2_MTMID_13_x",
"dx_F2_MTMID_13_y",
"dx_F2_MTMID_13_z",
"dx_F2_MTMID_13_temperature",
"dx_F2_MTDIST_0_x",
"dx_F2_MTDIST_0_y",
"dx_F2_MTDIST_0_z",
"dx_F2_MTDIST_0_temperature",
"dx_F2_MTDIST_1_x",
"dx_F2_MTDIST_1_y",
"dx_F2_MTDIST_1_z",
"dx_F2_MTDIST_1_temperature",
"dx_F2_MTDIST_2_x",
"dx_F2_MTDIST_2_y",
"dx_F2_MTDIST_2_z",
"dx_F2_MTDIST_2_temperature",
"dx_F2_MTDIST_3_x",
"dx_F2_MTDIST_3_y",
"dx_F2_MTDIST_3_z",
"dx_F2_MTDIST_3_temperature",
"dx_F2_MTDIST_4_x",
"dx_F2_MTDIST_4_y",
"dx_F2_MTDIST_4_z",
"dx_F2_MTDIST_4_temperature",
"dx_F2_MTDIST_5_x",
"dx_F2_MTDIST_5_y",
"dx_F2_MTDIST_5_z",
"dx_F2_MTDIST_5_temperature",
"dx_F2_MTDIST_6_x",
"dx_F2_MTDIST_6_y",
"dx_F2_MTDIST_6_z",
"dx_F2_MTDIST_6_temperature",
"dx_F2_MTDIST_7_x",
"dx_F2_MTDIST_7_y",
"dx_F2_MTDIST_7_z",
"dx_F2_MTDIST_7_temperature",
"dx_F2_MTDIST_8_x",
"dx_F2_MTDIST_8_y",
"dx_F2_MTDIST_8_z",
"dx_F2_MTDIST_8_temperature",
"dx_F2_MTDIST_9_x",
"dx_F2_MTDIST_9_y",
"dx_F2_MTDIST_9_z",
"dx_F2_MTDIST_9_temperature",
"dx_F2_MTDIST_10_x",
"dx_F2_MTDIST_10_y",
"dx_F2_MTDIST_10_z",
"dx_F2_MTDIST_10_temperature",
"dx_F2_MTDIST_11_x",
"dx_F2_MTDIST_11_y",
"dx_F2_MTDIST_11_z",
"dx_F2_MTDIST_11_temperature",
"dx_F2_MTDIST_12_x",
"dx_F2_MTDIST_12_y",
"dx_F2_MTDIST_12_z",
"dx_F2_MTDIST_12_temperature",
"dx_F2_MTDIST_13_x",
"dx_F2_MTDIST_13_y",
"dx_F2_MTDIST_13_z",
"dx_F2_MTDIST_13_temperature",
"dx_F2_MTDIST_14_x",
"dx_F2_MTDIST_14_y",
"dx_F2_MTDIST_14_z",
"dx_F2_MTDIST_14_temperature",
"dx_F2_MTDIST_15_x",
"dx_F2_MTDIST_15_y",
"dx_F2_MTDIST_15_z",
"dx_F2_MTDIST_15_temperature",
"dx_F2_MTDIST_16_x",
"dx_F2_MTDIST_16_y",
"dx_F2_MTDIST_16_z",
"dx_F2_MTDIST_16_temperature",
"dx_F2_imu0_orientation_x",
"dx_F2_imu0_orientation_y",
"dx_F2_imu0_orientation_z",
"dx_F2_imu0_orientation_w",
"dx_F2_imu0_orientation_covariance_0",
"dx_F2_imu0_orientation_covariance_1",
"dx_F2_imu0_orientation_covariance_2",
"dx_F2_imu0_orientation_covariance_3",
"dx_F2_imu0_orientation_covariance_4",
"dx_F2_imu0_orientation_covariance_5",
"dx_F2_imu0_orientation_covariance_6",
"dx_F2_imu0_orientation_covariance_7",
"dx_F2_imu0_orientation_covariance_8",
"dx_F2_imu0_angular_velocity_x",
"dx_F2_imu0_angular_velocity_y",
"dx_F2_imu0_angular_velocity_z",
"dx_F2_imu0_angular_velocity_covariance_0",
"dx_F2_imu0_angular_velocity_covariance_1",
"dx_F2_imu0_angular_velocity_covariance_2",
"dx_F2_imu0_angular_velocity_covariance_3",
"dx_F2_imu0_angular_velocity_covariance_4",
"dx_F2_imu0_angular_velocity_covariance_5",
"dx_F2_imu0_angular_velocity_covariance_6",
"dx_F2_imu0_angular_velocity_covariance_7",
"dx_F2_imu0_angular_velocity_covariance_8",
"dx_F2_imu0_linear_acceleration_x",
"dx_F2_imu0_linear_acceleration_y",
"dx_F2_imu0_linear_acceleration_z",
"dx_F2_imu0_linear_acceleration_covariance_0",
"dx_F2_imu0_linear_acceleration_covariance_1",
"dx_F2_imu0_linear_acceleration_covariance_2",
"dx_F2_imu0_linear_acceleration_covariance_3",
"dx_F2_imu0_linear_acceleration_covariance_4",
"dx_F2_imu0_linear_acceleration_covariance_5",
"dx_F2_imu0_linear_acceleration_covariance_6",
"dx_F2_imu0_linear_acceleration_covariance_7",
"dx_F2_imu0_linear_acceleration_covariance_8",
"dx_F2_imu1_orientation_x",
"dx_F2_imu1_orientation_y",
"dx_F2_imu1_orientation_z",
"dx_F2_imu1_orientation_w",
"dx_F2_imu1_orientation_covariance_0",
"dx_F2_imu1_orientation_covariance_1",
"dx_F2_imu1_orientation_covariance_2",
"dx_F2_imu1_orientation_covariance_3",
"dx_F2_imu1_orientation_covariance_4",
"dx_F2_imu1_orientation_covariance_5",
"dx_F2_imu1_orientation_covariance_6",
"dx_F2_imu1_orientation_covariance_7",
"dx_F2_imu1_orientation_covariance_8",
"dx_F2_imu1_angular_velocity_x",
"dx_F2_imu1_angular_velocity_y",
"dx_F2_imu1_angular_velocity_z",
"dx_F2_imu1_angular_velocity_covariance_0",
"dx_F2_imu1_angular_velocity_covariance_1",
"dx_F2_imu1_angular_velocity_covariance_2",
"dx_F2_imu1_angular_velocity_covariance_3",
"dx_F2_imu1_angular_velocity_covariance_4",
"dx_F2_imu1_angular_velocity_covariance_5",
"dx_F2_imu1_angular_velocity_covariance_6",
"dx_F2_imu1_angular_velocity_covariance_7",
"dx_F2_imu1_angular_velocity_covariance_8",
"dx_F2_imu1_linear_acceleration_x",
"dx_F2_imu1_linear_acceleration_y",
"dx_F2_imu1_linear_acceleration_z",
"dx_F2_imu1_linear_acceleration_covariance_0",
"dx_F2_imu1_linear_acceleration_covariance_1",
"dx_F2_imu1_linear_acceleration_covariance_2",
"dx_F2_imu1_linear_acceleration_covariance_3",
"dx_F2_imu1_linear_acceleration_covariance_4",
"dx_F2_imu1_linear_acceleration_covariance_5",
"dx_F2_imu1_linear_acceleration_covariance_6",
"dx_F2_imu1_linear_acceleration_covariance_7",
"dx_F2_imu1_linear_acceleration_covariance_8",
"dx_F2_imu2_orientation_x",
"dx_F2_imu2_orientation_y",
"dx_F2_imu2_orientation_z",
"dx_F2_imu2_orientation_w",
"dx_F2_imu2_orientation_covariance_0",
"dx_F2_imu2_orientation_covariance_1",
"dx_F2_imu2_orientation_covariance_2",
"dx_F2_imu2_orientation_covariance_3",
"dx_F2_imu2_orientation_covariance_4",
"dx_F2_imu2_orientation_covariance_5",
"dx_F2_imu2_orientation_covariance_6",
"dx_F2_imu2_orientation_covariance_7",
"dx_F2_imu2_orientation_covariance_8",
"dx_F2_imu2_angular_velocity_x",
"dx_F2_imu2_angular_velocity_y",
"dx_F2_imu2_angular_velocity_z",
"dx_F2_imu2_angular_velocity_covariance_0",
"dx_F2_imu2_angular_velocity_covariance_1",
"dx_F2_imu2_angular_velocity_covariance_2",
"dx_F2_imu2_angular_velocity_covariance_3",
"dx_F2_imu2_angular_velocity_covariance_4",
"dx_F2_imu2_angular_velocity_covariance_5",
"dx_F2_imu2_angular_velocity_covariance_6",
"dx_F2_imu2_angular_velocity_covariance_7",
"dx_F2_imu2_angular_velocity_covariance_8",
"dx_F2_imu2_linear_acceleration_x",
"dx_F2_imu2_linear_acceleration_y",
"dx_F2_imu2_linear_acceleration_z",
"dx_F2_imu2_linear_acceleration_covariance_0",
"dx_F2_imu2_linear_acceleration_covariance_1",
"dx_F2_imu2_linear_acceleration_covariance_2",
"dx_F2_imu2_linear_acceleration_covariance_3",
"dx_F2_imu2_linear_acceleration_covariance_4",
"dx_F2_imu2_linear_acceleration_covariance_5",
"dx_F2_imu2_linear_acceleration_covariance_6",
"dx_F2_imu2_linear_acceleration_covariance_7",
"dx_F2_imu2_linear_acceleration_covariance_8",
"dx_F2_imu3_orientation_x",
"dx_F2_imu3_orientation_y",
"dx_F2_imu3_orientation_z",
"dx_F2_imu3_orientation_w",
"dx_F2_imu3_orientation_covariance_0",
"dx_F2_imu3_orientation_covariance_1",
"dx_F2_imu3_orientation_covariance_2",
"dx_F2_imu3_orientation_covariance_3",
"dx_F2_imu3_orientation_covariance_4",
"dx_F2_imu3_orientation_covariance_5",
"dx_F2_imu3_orientation_covariance_6",
"dx_F2_imu3_orientation_covariance_7",
"dx_F2_imu3_orientation_covariance_8",
"dx_F2_imu3_angular_velocity_x",
"dx_F2_imu3_angular_velocity_y",
"dx_F2_imu3_angular_velocity_z",
"dx_F2_imu3_angular_velocity_covariance_0",
"dx_F2_imu3_angular_velocity_covariance_1",
"dx_F2_imu3_angular_velocity_covariance_2",
"dx_F2_imu3_angular_velocity_covariance_3",
"dx_F2_imu3_angular_velocity_covariance_4",
"dx_F2_imu3_angular_velocity_covariance_5",
"dx_F2_imu3_angular_velocity_covariance_6",
"dx_F2_imu3_angular_velocity_covariance_7",
"dx_F2_imu3_angular_velocity_covariance_8",
"dx_F2_imu3_linear_acceleration_x",
"dx_F2_imu3_linear_acceleration_y",
"dx_F2_imu3_linear_acceleration_z",
"dx_F2_imu3_linear_acceleration_covariance_0",
"dx_F2_imu3_linear_acceleration_covariance_1",
"dx_F2_imu3_linear_acceleration_covariance_2",
"dx_F2_imu3_linear_acceleration_covariance_3",
"dx_F2_imu3_linear_acceleration_covariance_4",
"dx_F2_imu3_linear_acceleration_covariance_5",
"dx_F2_imu3_linear_acceleration_covariance_6",
"dx_F2_imu3_linear_acceleration_covariance_7",
"dx_F2_imu3_linear_acceleration_covariance_8",
"dx_F0_J0_effort_filtered",
"dx_F0_J1_effort_filtered",
"dx_F0_J2_effort_filtered",
"dx_F0_J3_effort_filtered",
"dx_F0_J0_commanded_effort_filtered",
"dx_F0_J1_commanded_effort_filtered",
"dx_F0_J2_commanded_effort_filtered",
"dx_F0_J3_commanded_effort_filtered",
"dx_F0_J0_commanded_position_effort_filtered",
"dx_F0_J1_commanded_position_effort_filtered",
"dx_F0_J2_commanded_position_effort_filtered",
"dx_F0_J3_commanded_position_effort_filtered",
"dx_F0_J0_commanded_feedforward_effort_filtered",
"dx_F0_J1_commanded_feedforward_effort_filtered",
"dx_F0_J2_commanded_feedforward_effort_filtered",
"dx_F0_J3_commanded_feedforward_effort_filtered",
"dx_F0_A0_effort_filtered",
"dx_F0_A1_effort_filtered",
"dx_F0_A2_effort_filtered",
"dx_F0_A3_effort_filtered",
"dx_F0_A4_effort_filtered",
"dx_F0_A0_effort_raw_filtered",
"dx_F0_A1_effort_raw_filtered",
"dx_F0_A2_effort_raw_filtered",
"dx_F0_A3_effort_raw_filtered",
"dx_F0_A4_effort_raw_filtered",
"dx_F0_A0_commanded_efforts_filtered",
"dx_F0_A1_commanded_efforts_filtered",
"dx_F0_A2_commanded_efforts_filtered",
"dx_F0_A3_commanded_efforts_filtered",
"dx_F0_A4_commanded_efforts_filtered",
"dx_F1_J0_effort_filtered",
"dx_F1_J1_effort_filtered",
"dx_F1_J2_effort_filtered",
"dx_F1_J3_effort_filtered",
"dx_F1_J0_commanded_effort_filtered",
"dx_F1_J1_commanded_effort_filtered",
"dx_F1_J2_commanded_effort_filtered",
"dx_F1_J3_commanded_effort_filtered",
"dx_F1_J0_commanded_position_effort_filtered",
"dx_F1_J1_commanded_position_effort_filtered",
"dx_F1_J2_commanded_position_effort_filtered",
"dx_F1_J3_commanded_position_effort_filtered",
"dx_F1_J0_commanded_feedforward_effort_filtered",
"dx_F1_J1_commanded_feedforward_effort_filtered",
"dx_F1_J2_commanded_feedforward_effort_filtered",
"dx_F1_J3_commanded_feedforward_effort_filtered",
"dx_F1_A0_effort_filtered",
"dx_F1_A1_effort_filtered",
"dx_F1_A2_effort_filtered",
"dx_F1_A3_effort_filtered",
"dx_F1_A4_effort_filtered",
"dx_F1_A0_effort_raw_filtered",
"dx_F1_A1_effort_raw_filtered",
"dx_F1_A2_effort_raw_filtered",
"dx_F1_A3_effort_raw_filtered",
"dx_F1_A4_effort_raw_filtered",
"dx_F1_A0_commanded_efforts_filtered",
"dx_F1_A1_commanded_efforts_filtered",
"dx_F1_A2_commanded_efforts_filtered",
"dx_F1_A3_commanded_efforts_filtered",
"dx_F1_A4_commanded_efforts_filtered",
"dx_F2_J0_effort_filtered",
"dx_F2_J1_effort_filtered",
"dx_F2_J2_effort_filtered",
"dx_F2_J3_effort_filtered",
"dx_F2_J0_commanded_effort_filtered",
"dx_F2_J1_commanded_effort_filtered",
"dx_F2_J2_commanded_effort_filtered",
"dx_F2_J3_commanded_effort_filtered",
"dx_F2_J0_commanded_position_effort_filtered",
"dx_F2_J1_commanded_position_effort_filtered",
"dx_F2_J2_commanded_position_effort_filtered",
"dx_F2_J3_commanded_position_effort_filtered",
"dx_F2_J0_commanded_feedforward_effort_filtered",
"dx_F2_J1_commanded_feedforward_effort_filtered",
"dx_F2_J2_commanded_feedforward_effort_filtered",
"dx_F2_J3_commanded_feedforward_effort_filtered",
"dx_F2_A0_effort_filtered",
"dx_F2_A1_effort_filtered",
"dx_F2_A2_effort_filtered",
"dx_F2_A3_effort_filtered",
"dx_F2_A4_effort_filtered",
"dx_F2_A0_effort_raw_filtered",
"dx_F2_A1_effort_raw_filtered",
"dx_F2_A2_effort_raw_filtered",
"dx_F2_A3_effort_raw_filtered",
"dx_F2_A4_effort_raw_filtered",
"dx_F2_A0_commanded_efforts_filtered",
"dx_F2_A1_commanded_efforts_filtered",
"dx_F2_A2_commanded_efforts_filtered",
"dx_F2_A3_commanded_efforts_filtered",
"dx_F2_A4_commanded_efforts_filtered"
]
},
"action": {
"dtype": "float32",
"shape": [
21
],
"names": [
"x",
"y",
"z",
"r6d_0",
"r6d_1",
"r6d_2",
"r6d_3",
"r6d_4",
"r6d_5",
"hand_F0_J0",
"hand_F0_J1",
"hand_F0_J2",
"hand_F0_J3",
"hand_F1_J0",
"hand_F1_J1",
"hand_F1_J2",
"hand_F1_J3",
"hand_F2_J0",
"hand_F2_J1",
"hand_F2_J2",
"hand_F2_J3"
]
},
"observation.images.fixed": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
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}
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