Hugging Face's logo

Datasets:
ami-iit
/
puzzle_manipulation_datasets

Modalities:
Image
Formats:
parquet
Size:
10K - 100K
Tags:
robotics
manipulation
teleoperation
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
puzzle_manipulation_datasets / README.md
giotherobot's picture
giotherobot
Update README.md
f117cfb verified
preview code
|
raw
history blame contribute delete
119 kB
metadata
dataset_info:
  - config_name: solve01
    features:
      - name: camera/realsense/depth/timestamp
        dtype: float64
      - name: timestamps
        dtype: float64
      - name: camera/realsense/depth/depth_path
        dtype: image
      - name: camera/realsense/rgb/timestamp
        dtype: float64
      - name: camera/realsense/rgb/images_path
        dtype: image
      - name: walking/com/position/CoM_ZMP_controller/element_0
        dtype: float64
      - name: walking/com/position/CoM_ZMP_controller/element_1
        dtype: float64
      - name: walking/com/position/CoM_ZMP_controller/element_2
        dtype: float64
      - name: walking/com/position/desired/element_0
        dtype: float64
      - name: walking/com/position/desired/element_1
        dtype: float64
      - name: walking/com/position/desired/element_2
        dtype: float64
      - name: walking/com/position/measured/element_0
        dtype: float64
      - name: walking/com/position/measured/element_1
        dtype: float64
      - name: walking/com/position/measured/element_2
        dtype: float64
      - name: walking/com/velocity/desired/element_0
        dtype: float64
      - name: walking/com/velocity/desired/element_1
        dtype: float64
      - name: walking/com/velocity/desired/element_2
        dtype: float64
      - name: walking/dcm/position/desired/element_0
        dtype: float64
      - name: walking/dcm/position/desired/element_1
        dtype: float64
      - name: walking/dcm/position/measured/element_0
        dtype: float64
      - name: walking/dcm/position/measured/element_1
        dtype: float64
      - name: walking/dcm/velocity/desired/element_0
        dtype: float64
      - name: walking/dcm/velocity/desired/element_1
        dtype: float64
      - name: walking/joints_state/positions/desired/element_0
        dtype: float64
      - name: walking/joints_state/positions/desired/element_1
        dtype: float64
      - name: walking/joints_state/positions/desired/element_2
        dtype: float64
      - name: walking/joints_state/positions/desired/element_3
        dtype: float64
      - name: walking/joints_state/positions/desired/element_4
        dtype: float64
      - name: walking/joints_state/positions/desired/element_5
        dtype: float64
      - name: walking/joints_state/positions/desired/element_6
        dtype: float64
      - name: walking/joints_state/positions/desired/element_7
        dtype: float64
      - name: walking/joints_state/positions/desired/element_8
        dtype: float64
      - name: walking/joints_state/positions/desired/element_9
        dtype: float64
      - name: walking/joints_state/positions/desired/element_10
        dtype: float64
      - name: walking/joints_state/positions/desired/element_11
        dtype: float64
      - name: walking/joints_state/positions/desired/element_12
        dtype: float64
      - name: walking/joints_state/positions/desired/element_13
        dtype: float64
      - name: walking/joints_state/positions/desired/element_14
        dtype: float64
      - name: walking/joints_state/positions/desired/element_15
        dtype: float64
      - name: walking/joints_state/positions/desired/element_16
        dtype: float64
      - name: walking/joints_state/positions/desired/element_17
        dtype: float64
      - name: walking/joints_state/positions/desired/element_18
        dtype: float64
      - name: walking/joints_state/positions/desired/element_19
        dtype: float64
      - name: walking/joints_state/positions/desired/element_20
        dtype: float64
      - name: walking/joints_state/positions/desired/element_21
        dtype: float64
      - name: walking/joints_state/positions/desired/element_22
        dtype: float64
      - name: walking/joints_state/positions/desired/element_23
        dtype: float64
      - name: walking/joints_state/positions/desired/element_24
        dtype: float64
      - name: walking/joints_state/positions/desired/element_25
        dtype: float64
      - name: walking/joints_state/positions/desired/element_26
        dtype: float64
      - name: walking/joints_state/positions/desired/element_27
        dtype: float64
      - name: walking/joints_state/positions/desired/element_28
        dtype: float64
      - name: walking/joints_state/positions/desired/element_29
        dtype: float64
      - name: walking/joints_state/positions/desired/element_30
        dtype: float64
      - name: walking/joints_state/positions/desired/element_31
        dtype: float64
      - name: walking/joints_state/positions/measured/element_0
        dtype: float64
      - name: walking/joints_state/positions/measured/element_1
        dtype: float64
      - name: walking/joints_state/positions/measured/element_2
        dtype: float64
      - name: walking/joints_state/positions/measured/element_3
        dtype: float64
      - name: walking/joints_state/positions/measured/element_4
        dtype: float64
      - name: walking/joints_state/positions/measured/element_5
        dtype: float64
      - name: walking/joints_state/positions/measured/element_6
        dtype: float64
      - name: walking/joints_state/positions/measured/element_7
        dtype: float64
      - name: walking/joints_state/positions/measured/element_8
        dtype: float64
      - name: walking/joints_state/positions/measured/element_9
        dtype: float64
      - name: walking/joints_state/positions/measured/element_10
        dtype: float64
      - name: walking/joints_state/positions/measured/element_11
        dtype: float64
      - name: walking/joints_state/positions/measured/element_12
        dtype: float64
      - name: walking/joints_state/positions/measured/element_13
        dtype: float64
      - name: walking/joints_state/positions/measured/element_14
        dtype: float64
      - name: walking/joints_state/positions/measured/element_15
        dtype: float64
      - name: walking/joints_state/positions/measured/element_16
        dtype: float64
      - name: walking/joints_state/positions/measured/element_17
        dtype: float64
      - name: walking/joints_state/positions/measured/element_18
        dtype: float64
      - name: walking/joints_state/positions/measured/element_19
        dtype: float64
      - name: walking/joints_state/positions/measured/element_20
        dtype: float64
      - name: walking/joints_state/positions/measured/element_21
        dtype: float64
      - name: walking/joints_state/positions/measured/element_22
        dtype: float64
      - name: walking/joints_state/positions/measured/element_23
        dtype: float64
      - name: walking/joints_state/positions/measured/element_24
        dtype: float64
      - name: walking/joints_state/positions/measured/element_25
        dtype: float64
      - name: walking/joints_state/positions/measured/element_26
        dtype: float64
      - name: walking/joints_state/positions/measured/element_27
        dtype: float64
      - name: walking/joints_state/positions/measured/element_28
        dtype: float64
      - name: walking/joints_state/positions/measured/element_29
        dtype: float64
      - name: walking/joints_state/positions/measured/element_30
        dtype: float64
      - name: walking/joints_state/positions/measured/element_31
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_0
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_1
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_2
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_3
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_4
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_5
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_6
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_7
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_8
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_9
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_10
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_11
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_12
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_13
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_14
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_15
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_16
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_17
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_18
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_19
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_20
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_21
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_22
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_23
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_24
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_25
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_26
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_27
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_28
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_29
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_30
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_31
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_0
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_1
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_2
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_3
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_4
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_5
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_6
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_7
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_8
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_9
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_10
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_11
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_12
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_13
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_14
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_15
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_16
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_17
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_18
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_19
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_20
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_21
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_22
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_23
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_24
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_25
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_26
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_27
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_28
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_29
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_30
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_31
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_0
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_1
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_2
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_3
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_4
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_5
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_6
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_7
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_8
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_9
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_10
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_11
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_12
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_13
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_14
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_15
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_16
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_17
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_18
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_19
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_20
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_21
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_22
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_23
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_24
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_25
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_26
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_27
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_28
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_29
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_30
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_31
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_0
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_1
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_2
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_0
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_1
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_2
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_0
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_1
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_2
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_0
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_1
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_2
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_0
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_1
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_2
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_0
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_1
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_2
        dtype: float64
      - name: walking/left_foot/position/desired/element_0
        dtype: float64
      - name: walking/left_foot/position/desired/element_1
        dtype: float64
      - name: walking/left_foot/position/desired/element_2
        dtype: float64
      - name: walking/left_foot/position/measured/element_0
        dtype: float64
      - name: walking/left_foot/position/measured/element_1
        dtype: float64
      - name: walking/left_foot/position/measured/element_2
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_0
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_1
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_2
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_0
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_1
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_2
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_0
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_1
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_2
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_0
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_1
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_2
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_0
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_1
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_2
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_0
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_1
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_2
        dtype: float64
      - name: walking/right_foot/position/desired/element_0
        dtype: float64
      - name: walking/right_foot/position/desired/element_1
        dtype: float64
      - name: walking/right_foot/position/desired/element_2
        dtype: float64
      - name: walking/right_foot/position/measured/element_0
        dtype: float64
      - name: walking/right_foot/position/measured/element_1
        dtype: float64
      - name: walking/right_foot/position/measured/element_2
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_0
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_1
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_2
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_0
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_1
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_2
        dtype: float64
      - name: walking/root_link/orientation/measured/element_0
        dtype: float64
      - name: walking/root_link/orientation/measured/element_1
        dtype: float64
      - name: walking/root_link/orientation/measured/element_2
        dtype: float64
      - name: walking/root_link/position/measured/element_0
        dtype: float64
      - name: walking/root_link/position/measured/element_1
        dtype: float64
      - name: walking/root_link/position/measured/element_2
        dtype: float64
      - name: walking/stance_foot/is_left/element_0
        dtype: float64
      - name: walking/zmp/desired/element_0
        dtype: float64
      - name: walking/zmp/desired/element_1
        dtype: float64
      - name: walking/zmp/desired_planner/element_0
        dtype: float64
      - name: walking/zmp/desired_planner/element_1
        dtype: float64
      - name: walking/zmp/measured/element_0
        dtype: float64
      - name: walking/zmp/measured/element_1
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_z
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_z
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_x
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_y
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_z
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_x
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_y
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_z
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_z
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_z
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_x
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_y
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_z
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_x
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_y
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_z
        dtype: float64
      - name: joints_state/accelerations/neck_pitch
        dtype: float64
      - name: joints_state/accelerations/neck_roll
        dtype: float64
      - name: joints_state/accelerations/neck_yaw
        dtype: float64
      - name: joints_state/accelerations/camera_tilt
        dtype: float64
      - name: joints_state/accelerations/torso_pitch
        dtype: float64
      - name: joints_state/accelerations/torso_roll
        dtype: float64
      - name: joints_state/accelerations/torso_yaw
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_pitch
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_roll
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_yaw
        dtype: float64
      - name: joints_state/accelerations/l_elbow
        dtype: float64
      - name: joints_state/accelerations/l_wrist_roll
        dtype: float64
      - name: joints_state/accelerations/l_wrist_pitch
        dtype: float64
      - name: joints_state/accelerations/l_wrist_yaw
        dtype: float64
      - name: joints_state/accelerations/l_thumb_add
        dtype: float64
      - name: joints_state/accelerations/l_thumb_oc
        dtype: float64
      - name: joints_state/accelerations/l_index_oc
        dtype: float64
      - name: joints_state/accelerations/l_middle_oc
        dtype: float64
      - name: joints_state/accelerations/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_pitch
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_roll
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_yaw
        dtype: float64
      - name: joints_state/accelerations/r_elbow
        dtype: float64
      - name: joints_state/accelerations/r_wrist_roll
        dtype: float64
      - name: joints_state/accelerations/r_wrist_pitch
        dtype: float64
      - name: joints_state/accelerations/r_wrist_yaw
        dtype: float64
      - name: joints_state/accelerations/r_thumb_add
        dtype: float64
      - name: joints_state/accelerations/r_thumb_oc
        dtype: float64
      - name: joints_state/accelerations/r_index_oc
        dtype: float64
      - name: joints_state/accelerations/r_middle_oc
        dtype: float64
      - name: joints_state/accelerations/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/accelerations/l_hip_pitch
        dtype: float64
      - name: joints_state/accelerations/l_hip_roll
        dtype: float64
      - name: joints_state/accelerations/l_hip_yaw
        dtype: float64
      - name: joints_state/accelerations/l_knee
        dtype: float64
      - name: joints_state/accelerations/l_ankle_pitch
        dtype: float64
      - name: joints_state/accelerations/l_ankle_roll
        dtype: float64
      - name: joints_state/accelerations/r_hip_pitch
        dtype: float64
      - name: joints_state/accelerations/r_hip_roll
        dtype: float64
      - name: joints_state/accelerations/r_hip_yaw
        dtype: float64
      - name: joints_state/accelerations/r_knee
        dtype: float64
      - name: joints_state/accelerations/r_ankle_pitch
        dtype: float64
      - name: joints_state/accelerations/r_ankle_roll
        dtype: float64
      - name: joints_state/positions/neck_pitch
        dtype: float64
      - name: joints_state/positions/neck_roll
        dtype: float64
      - name: joints_state/positions/neck_yaw
        dtype: float64
      - name: joints_state/positions/camera_tilt
        dtype: float64
      - name: joints_state/positions/torso_pitch
        dtype: float64
      - name: joints_state/positions/torso_roll
        dtype: float64
      - name: joints_state/positions/torso_yaw
        dtype: float64
      - name: joints_state/positions/l_shoulder_pitch
        dtype: float64
      - name: joints_state/positions/l_shoulder_roll
        dtype: float64
      - name: joints_state/positions/l_shoulder_yaw
        dtype: float64
      - name: joints_state/positions/l_elbow
        dtype: float64
      - name: joints_state/positions/l_wrist_roll
        dtype: float64
      - name: joints_state/positions/l_wrist_pitch
        dtype: float64
      - name: joints_state/positions/l_wrist_yaw
        dtype: float64
      - name: joints_state/positions/l_thumb_add
        dtype: float64
      - name: joints_state/positions/l_thumb_oc
        dtype: float64
      - name: joints_state/positions/l_index_oc
        dtype: float64
      - name: joints_state/positions/l_middle_oc
        dtype: float64
      - name: joints_state/positions/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/positions/r_shoulder_pitch
        dtype: float64
      - name: joints_state/positions/r_shoulder_roll
        dtype: float64
      - name: joints_state/positions/r_shoulder_yaw
        dtype: float64
      - name: joints_state/positions/r_elbow
        dtype: float64
      - name: joints_state/positions/r_wrist_roll
        dtype: float64
      - name: joints_state/positions/r_wrist_pitch
        dtype: float64
      - name: joints_state/positions/r_wrist_yaw
        dtype: float64
      - name: joints_state/positions/r_thumb_add
        dtype: float64
      - name: joints_state/positions/r_thumb_oc
        dtype: float64
      - name: joints_state/positions/r_index_oc
        dtype: float64
      - name: joints_state/positions/r_middle_oc
        dtype: float64
      - name: joints_state/positions/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/positions/l_hip_pitch
        dtype: float64
      - name: joints_state/positions/l_hip_roll
        dtype: float64
      - name: joints_state/positions/l_hip_yaw
        dtype: float64
      - name: joints_state/positions/l_knee
        dtype: float64
      - name: joints_state/positions/l_ankle_pitch
        dtype: float64
      - name: joints_state/positions/l_ankle_roll
        dtype: float64
      - name: joints_state/positions/r_hip_pitch
        dtype: float64
      - name: joints_state/positions/r_hip_roll
        dtype: float64
      - name: joints_state/positions/r_hip_yaw
        dtype: float64
      - name: joints_state/positions/r_knee
        dtype: float64
      - name: joints_state/positions/r_ankle_pitch
        dtype: float64
      - name: joints_state/positions/r_ankle_roll
        dtype: float64
      - name: joints_state/torques/neck_pitch
        dtype: float64
      - name: joints_state/torques/neck_roll
        dtype: float64
      - name: joints_state/torques/neck_yaw
        dtype: float64
      - name: joints_state/torques/camera_tilt
        dtype: float64
      - name: joints_state/torques/torso_pitch
        dtype: float64
      - name: joints_state/torques/torso_roll
        dtype: float64
      - name: joints_state/torques/torso_yaw
        dtype: float64
      - name: joints_state/torques/l_shoulder_pitch
        dtype: float64
      - name: joints_state/torques/l_shoulder_roll
        dtype: float64
      - name: joints_state/torques/l_shoulder_yaw
        dtype: float64
      - name: joints_state/torques/l_elbow
        dtype: float64
      - name: joints_state/torques/l_wrist_roll
        dtype: float64
      - name: joints_state/torques/l_wrist_pitch
        dtype: float64
      - name: joints_state/torques/l_wrist_yaw
        dtype: float64
      - name: joints_state/torques/l_thumb_add
        dtype: float64
      - name: joints_state/torques/l_thumb_oc
        dtype: float64
      - name: joints_state/torques/l_index_oc
        dtype: float64
      - name: joints_state/torques/l_middle_oc
        dtype: float64
      - name: joints_state/torques/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/torques/r_shoulder_pitch
        dtype: float64
      - name: joints_state/torques/r_shoulder_roll
        dtype: float64
      - name: joints_state/torques/r_shoulder_yaw
        dtype: float64
      - name: joints_state/torques/r_elbow
        dtype: float64
      - name: joints_state/torques/r_wrist_roll
        dtype: float64
      - name: joints_state/torques/r_wrist_pitch
        dtype: float64
      - name: joints_state/torques/r_wrist_yaw
        dtype: float64
      - name: joints_state/torques/r_thumb_add
        dtype: float64
      - name: joints_state/torques/r_thumb_oc
        dtype: float64
      - name: joints_state/torques/r_index_oc
        dtype: float64
      - name: joints_state/torques/r_middle_oc
        dtype: float64
      - name: joints_state/torques/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/torques/l_hip_pitch
        dtype: float64
      - name: joints_state/torques/l_hip_roll
        dtype: float64
      - name: joints_state/torques/l_hip_yaw
        dtype: float64
      - name: joints_state/torques/l_knee
        dtype: float64
      - name: joints_state/torques/l_ankle_pitch
        dtype: float64
      - name: joints_state/torques/l_ankle_roll
        dtype: float64
      - name: joints_state/torques/r_hip_pitch
        dtype: float64
      - name: joints_state/torques/r_hip_roll
        dtype: float64
      - name: joints_state/torques/r_hip_yaw
        dtype: float64
      - name: joints_state/torques/r_knee
        dtype: float64
      - name: joints_state/torques/r_ankle_pitch
        dtype: float64
      - name: joints_state/torques/r_ankle_roll
        dtype: float64
      - name: joints_state/velocities/neck_pitch
        dtype: float64
      - name: joints_state/velocities/neck_roll
        dtype: float64
      - name: joints_state/velocities/neck_yaw
        dtype: float64
      - name: joints_state/velocities/camera_tilt
        dtype: float64
      - name: joints_state/velocities/torso_pitch
        dtype: float64
      - name: joints_state/velocities/torso_roll
        dtype: float64
      - name: joints_state/velocities/torso_yaw
        dtype: float64
      - name: joints_state/velocities/l_shoulder_pitch
        dtype: float64
      - name: joints_state/velocities/l_shoulder_roll
        dtype: float64
      - name: joints_state/velocities/l_shoulder_yaw
        dtype: float64
      - name: joints_state/velocities/l_elbow
        dtype: float64
      - name: joints_state/velocities/l_wrist_roll
        dtype: float64
      - name: joints_state/velocities/l_wrist_pitch
        dtype: float64
      - name: joints_state/velocities/l_wrist_yaw
        dtype: float64
      - name: joints_state/velocities/l_thumb_add
        dtype: float64
      - name: joints_state/velocities/l_thumb_oc
        dtype: float64
      - name: joints_state/velocities/l_index_oc
        dtype: float64
      - name: joints_state/velocities/l_middle_oc
        dtype: float64
      - name: joints_state/velocities/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/velocities/r_shoulder_pitch
        dtype: float64
      - name: joints_state/velocities/r_shoulder_roll
        dtype: float64
      - name: joints_state/velocities/r_shoulder_yaw
        dtype: float64
      - name: joints_state/velocities/r_elbow
        dtype: float64
      - name: joints_state/velocities/r_wrist_roll
        dtype: float64
      - name: joints_state/velocities/r_wrist_pitch
        dtype: float64
      - name: joints_state/velocities/r_wrist_yaw
        dtype: float64
      - name: joints_state/velocities/r_thumb_add
        dtype: float64
      - name: joints_state/velocities/r_thumb_oc
        dtype: float64
      - name: joints_state/velocities/r_index_oc
        dtype: float64
      - name: joints_state/velocities/r_middle_oc
        dtype: float64
      - name: joints_state/velocities/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/velocities/l_hip_pitch
        dtype: float64
      - name: joints_state/velocities/l_hip_roll
        dtype: float64
      - name: joints_state/velocities/l_hip_yaw
        dtype: float64
      - name: joints_state/velocities/l_knee
        dtype: float64
      - name: joints_state/velocities/l_ankle_pitch
        dtype: float64
      - name: joints_state/velocities/l_ankle_roll
        dtype: float64
      - name: joints_state/velocities/r_hip_pitch
        dtype: float64
      - name: joints_state/velocities/r_hip_roll
        dtype: float64
      - name: joints_state/velocities/r_hip_yaw
        dtype: float64
      - name: joints_state/velocities/r_knee
        dtype: float64
      - name: joints_state/velocities/r_ankle_pitch
        dtype: float64
      - name: joints_state/velocities/r_ankle_roll
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_x
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_y
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_z
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_x
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_y
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_z
        dtype: float64
      - name: motors_state/PWM/neck_pitch
        dtype: float64
      - name: motors_state/PWM/neck_roll
        dtype: float64
      - name: motors_state/PWM/neck_yaw
        dtype: float64
      - name: motors_state/PWM/camera_tilt
        dtype: float64
      - name: motors_state/PWM/torso_pitch
        dtype: float64
      - name: motors_state/PWM/torso_roll
        dtype: float64
      - name: motors_state/PWM/torso_yaw
        dtype: float64
      - name: motors_state/PWM/l_shoulder_pitch
        dtype: float64
      - name: motors_state/PWM/l_shoulder_roll
        dtype: float64
      - name: motors_state/PWM/l_shoulder_yaw
        dtype: float64
      - name: motors_state/PWM/l_elbow
        dtype: float64
      - name: motors_state/PWM/l_wrist_roll
        dtype: float64
      - name: motors_state/PWM/l_wrist_pitch
        dtype: float64
      - name: motors_state/PWM/l_wrist_yaw
        dtype: float64
      - name: motors_state/PWM/l_thumb_add
        dtype: float64
      - name: motors_state/PWM/l_thumb_oc
        dtype: float64
      - name: motors_state/PWM/l_index_oc
        dtype: float64
      - name: motors_state/PWM/l_middle_oc
        dtype: float64
      - name: motors_state/PWM/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/PWM/r_shoulder_pitch
        dtype: float64
      - name: motors_state/PWM/r_shoulder_roll
        dtype: float64
      - name: motors_state/PWM/r_shoulder_yaw
        dtype: float64
      - name: motors_state/PWM/r_elbow
        dtype: float64
      - name: motors_state/PWM/r_wrist_roll
        dtype: float64
      - name: motors_state/PWM/r_wrist_pitch
        dtype: float64
      - name: motors_state/PWM/r_wrist_yaw
        dtype: float64
      - name: motors_state/PWM/r_thumb_add
        dtype: float64
      - name: motors_state/PWM/r_thumb_oc
        dtype: float64
      - name: motors_state/PWM/r_index_oc
        dtype: float64
      - name: motors_state/PWM/r_middle_oc
        dtype: float64
      - name: motors_state/PWM/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/PWM/l_hip_pitch
        dtype: float64
      - name: motors_state/PWM/l_hip_roll
        dtype: float64
      - name: motors_state/PWM/l_hip_yaw
        dtype: float64
      - name: motors_state/PWM/l_knee
        dtype: float64
      - name: motors_state/PWM/l_ankle_pitch
        dtype: float64
      - name: motors_state/PWM/l_ankle_roll
        dtype: float64
      - name: motors_state/PWM/r_hip_pitch
        dtype: float64
      - name: motors_state/PWM/r_hip_roll
        dtype: float64
      - name: motors_state/PWM/r_hip_yaw
        dtype: float64
      - name: motors_state/PWM/r_knee
        dtype: float64
      - name: motors_state/PWM/r_ankle_pitch
        dtype: float64
      - name: motors_state/PWM/r_ankle_roll
        dtype: float64
      - name: motors_state/accelerations/neck_pitch
        dtype: float64
      - name: motors_state/accelerations/neck_roll
        dtype: float64
      - name: motors_state/accelerations/neck_yaw
        dtype: float64
      - name: motors_state/accelerations/camera_tilt
        dtype: float64
      - name: motors_state/accelerations/torso_pitch
        dtype: float64
      - name: motors_state/accelerations/torso_roll
        dtype: float64
      - name: motors_state/accelerations/torso_yaw
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_pitch
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_roll
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_yaw
        dtype: float64
      - name: motors_state/accelerations/l_elbow
        dtype: float64
      - name: motors_state/accelerations/l_wrist_roll
        dtype: float64
      - name: motors_state/accelerations/l_wrist_pitch
        dtype: float64
      - name: motors_state/accelerations/l_wrist_yaw
        dtype: float64
      - name: motors_state/accelerations/l_thumb_add
        dtype: float64
      - name: motors_state/accelerations/l_thumb_oc
        dtype: float64
      - name: motors_state/accelerations/l_index_oc
        dtype: float64
      - name: motors_state/accelerations/l_middle_oc
        dtype: float64
      - name: motors_state/accelerations/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_pitch
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_roll
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_yaw
        dtype: float64
      - name: motors_state/accelerations/r_elbow
        dtype: float64
      - name: motors_state/accelerations/r_wrist_roll
        dtype: float64
      - name: motors_state/accelerations/r_wrist_pitch
        dtype: float64
      - name: motors_state/accelerations/r_wrist_yaw
        dtype: float64
      - name: motors_state/accelerations/r_thumb_add
        dtype: float64
      - name: motors_state/accelerations/r_thumb_oc
        dtype: float64
      - name: motors_state/accelerations/r_index_oc
        dtype: float64
      - name: motors_state/accelerations/r_middle_oc
        dtype: float64
      - name: motors_state/accelerations/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/accelerations/l_hip_pitch
        dtype: float64
      - name: motors_state/accelerations/l_hip_roll
        dtype: float64
      - name: motors_state/accelerations/l_hip_yaw
        dtype: float64
      - name: motors_state/accelerations/l_knee
        dtype: float64
      - name: motors_state/accelerations/l_ankle_pitch
        dtype: float64
      - name: motors_state/accelerations/l_ankle_roll
        dtype: float64
      - name: motors_state/accelerations/r_hip_pitch
        dtype: float64
      - name: motors_state/accelerations/r_hip_roll
        dtype: float64
      - name: motors_state/accelerations/r_hip_yaw
        dtype: float64
      - name: motors_state/accelerations/r_knee
        dtype: float64
      - name: motors_state/accelerations/r_ankle_pitch
        dtype: float64
      - name: motors_state/accelerations/r_ankle_roll
        dtype: float64
      - name: motors_state/currents/neck_pitch
        dtype: float64
      - name: motors_state/currents/neck_roll
        dtype: float64
      - name: motors_state/currents/neck_yaw
        dtype: float64
      - name: motors_state/currents/camera_tilt
        dtype: float64
      - name: motors_state/currents/torso_pitch
        dtype: float64
      - name: motors_state/currents/torso_roll
        dtype: float64
      - name: motors_state/currents/torso_yaw
        dtype: float64
      - name: motors_state/currents/l_shoulder_pitch
        dtype: float64
      - name: motors_state/currents/l_shoulder_roll
        dtype: float64
      - name: motors_state/currents/l_shoulder_yaw
        dtype: float64
      - name: motors_state/currents/l_elbow
        dtype: float64
      - name: motors_state/currents/l_wrist_roll
        dtype: float64
      - name: motors_state/currents/l_wrist_pitch
        dtype: float64
      - name: motors_state/currents/l_wrist_yaw
        dtype: float64
      - name: motors_state/currents/l_thumb_add
        dtype: float64
      - name: motors_state/currents/l_thumb_oc
        dtype: float64
      - name: motors_state/currents/l_index_oc
        dtype: float64
      - name: motors_state/currents/l_middle_oc
        dtype: float64
      - name: motors_state/currents/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/currents/r_shoulder_pitch
        dtype: float64
      - name: motors_state/currents/r_shoulder_roll
        dtype: float64
      - name: motors_state/currents/r_shoulder_yaw
        dtype: float64
      - name: motors_state/currents/r_elbow
        dtype: float64
      - name: motors_state/currents/r_wrist_roll
        dtype: float64
      - name: motors_state/currents/r_wrist_pitch
        dtype: float64
      - name: motors_state/currents/r_wrist_yaw
        dtype: float64
      - name: motors_state/currents/r_thumb_add
        dtype: float64
      - name: motors_state/currents/r_thumb_oc
        dtype: float64
      - name: motors_state/currents/r_index_oc
        dtype: float64
      - name: motors_state/currents/r_middle_oc
        dtype: float64
      - name: motors_state/currents/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/currents/l_hip_pitch
        dtype: float64
      - name: motors_state/currents/l_hip_roll
        dtype: float64
      - name: motors_state/currents/l_hip_yaw
        dtype: float64
      - name: motors_state/currents/l_knee
        dtype: float64
      - name: motors_state/currents/l_ankle_pitch
        dtype: float64
      - name: motors_state/currents/l_ankle_roll
        dtype: float64
      - name: motors_state/currents/r_hip_pitch
        dtype: float64
      - name: motors_state/currents/r_hip_roll
        dtype: float64
      - name: motors_state/currents/r_hip_yaw
        dtype: float64
      - name: motors_state/currents/r_knee
        dtype: float64
      - name: motors_state/currents/r_ankle_pitch
        dtype: float64
      - name: motors_state/currents/r_ankle_roll
        dtype: float64
      - name: motors_state/positions/neck_pitch
        dtype: float64
      - name: motors_state/positions/neck_roll
        dtype: float64
      - name: motors_state/positions/neck_yaw
        dtype: float64
      - name: motors_state/positions/camera_tilt
        dtype: float64
      - name: motors_state/positions/torso_pitch
        dtype: float64
      - name: motors_state/positions/torso_roll
        dtype: float64
      - name: motors_state/positions/torso_yaw
        dtype: float64
      - name: motors_state/positions/l_shoulder_pitch
        dtype: float64
      - name: motors_state/positions/l_shoulder_roll
        dtype: float64
      - name: motors_state/positions/l_shoulder_yaw
        dtype: float64
      - name: motors_state/positions/l_elbow
        dtype: float64
      - name: motors_state/positions/l_wrist_roll
        dtype: float64
      - name: motors_state/positions/l_wrist_pitch
        dtype: float64
      - name: motors_state/positions/l_wrist_yaw
        dtype: float64
      - name: motors_state/positions/l_thumb_add
        dtype: float64
      - name: motors_state/positions/l_thumb_oc
        dtype: float64
      - name: motors_state/positions/l_index_oc
        dtype: float64
      - name: motors_state/positions/l_middle_oc
        dtype: float64
      - name: motors_state/positions/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/positions/r_shoulder_pitch
        dtype: float64
      - name: motors_state/positions/r_shoulder_roll
        dtype: float64
      - name: motors_state/positions/r_shoulder_yaw
        dtype: float64
      - name: motors_state/positions/r_elbow
        dtype: float64
      - name: motors_state/positions/r_wrist_roll
        dtype: float64
      - name: motors_state/positions/r_wrist_pitch
        dtype: float64
      - name: motors_state/positions/r_wrist_yaw
        dtype: float64
      - name: motors_state/positions/r_thumb_add
        dtype: float64
      - name: motors_state/positions/r_thumb_oc
        dtype: float64
      - name: motors_state/positions/r_index_oc
        dtype: float64
      - name: motors_state/positions/r_middle_oc
        dtype: float64
      - name: motors_state/positions/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/positions/l_hip_pitch
        dtype: float64
      - name: motors_state/positions/l_hip_roll
        dtype: float64
      - name: motors_state/positions/l_hip_yaw
        dtype: float64
      - name: motors_state/positions/l_knee
        dtype: float64
      - name: motors_state/positions/l_ankle_pitch
        dtype: float64
      - name: motors_state/positions/l_ankle_roll
        dtype: float64
      - name: motors_state/positions/r_hip_pitch
        dtype: float64
      - name: motors_state/positions/r_hip_roll
        dtype: float64
      - name: motors_state/positions/r_hip_yaw
        dtype: float64
      - name: motors_state/positions/r_knee
        dtype: float64
      - name: motors_state/positions/r_ankle_pitch
        dtype: float64
      - name: motors_state/positions/r_ankle_roll
        dtype: float64
      - name: motors_state/velocities/neck_pitch
        dtype: float64
      - name: motors_state/velocities/neck_roll
        dtype: float64
      - name: motors_state/velocities/neck_yaw
        dtype: float64
      - name: motors_state/velocities/camera_tilt
        dtype: float64
      - name: motors_state/velocities/torso_pitch
        dtype: float64
      - name: motors_state/velocities/torso_roll
        dtype: float64
      - name: motors_state/velocities/torso_yaw
        dtype: float64
      - name: motors_state/velocities/l_shoulder_pitch
        dtype: float64
      - name: motors_state/velocities/l_shoulder_roll
        dtype: float64
      - name: motors_state/velocities/l_shoulder_yaw
        dtype: float64
      - name: motors_state/velocities/l_elbow
        dtype: float64
      - name: motors_state/velocities/l_wrist_roll
        dtype: float64
      - name: motors_state/velocities/l_wrist_pitch
        dtype: float64
      - name: motors_state/velocities/l_wrist_yaw
        dtype: float64
      - name: motors_state/velocities/l_thumb_add
        dtype: float64
      - name: motors_state/velocities/l_thumb_oc
        dtype: float64
      - name: motors_state/velocities/l_index_oc
        dtype: float64
      - name: motors_state/velocities/l_middle_oc
        dtype: float64
      - name: motors_state/velocities/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/velocities/r_shoulder_pitch
        dtype: float64
      - name: motors_state/velocities/r_shoulder_roll
        dtype: float64
      - name: motors_state/velocities/r_shoulder_yaw
        dtype: float64
      - name: motors_state/velocities/r_elbow
        dtype: float64
      - name: motors_state/velocities/r_wrist_roll
        dtype: float64
      - name: motors_state/velocities/r_wrist_pitch
        dtype: float64
      - name: motors_state/velocities/r_wrist_yaw
        dtype: float64
      - name: motors_state/velocities/r_thumb_add
        dtype: float64
      - name: motors_state/velocities/r_thumb_oc
        dtype: float64
      - name: motors_state/velocities/r_index_oc
        dtype: float64
      - name: motors_state/velocities/r_middle_oc
        dtype: float64
      - name: motors_state/velocities/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/velocities/l_hip_pitch
        dtype: float64
      - name: motors_state/velocities/l_hip_roll
        dtype: float64
      - name: motors_state/velocities/l_hip_yaw
        dtype: float64
      - name: motors_state/velocities/l_knee
        dtype: float64
      - name: motors_state/velocities/l_ankle_pitch
        dtype: float64
      - name: motors_state/velocities/l_ankle_roll
        dtype: float64
      - name: motors_state/velocities/r_hip_pitch
        dtype: float64
      - name: motors_state/velocities/r_hip_roll
        dtype: float64
      - name: motors_state/velocities/r_hip_yaw
        dtype: float64
      - name: motors_state/velocities/r_knee
        dtype: float64
      - name: motors_state/velocities/r_ankle_pitch
        dtype: float64
      - name: motors_state/velocities/r_ankle_roll
        dtype: float64
      - name: orientations/l_arm_ft_eul/r
        dtype: float64
      - name: orientations/l_arm_ft_eul/p
        dtype: float64
      - name: orientations/l_arm_ft_eul/y
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/r
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/p
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/y
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/r
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/p
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/y
        dtype: float64
      - name: orientations/l_leg_ft_eul/r
        dtype: float64
      - name: orientations/l_leg_ft_eul/p
        dtype: float64
      - name: orientations/l_leg_ft_eul/y
        dtype: float64
      - name: orientations/r_arm_ft_eul/r
        dtype: float64
      - name: orientations/r_arm_ft_eul/p
        dtype: float64
      - name: orientations/r_arm_ft_eul/y
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/r
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/p
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/y
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/r
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/p
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/y
        dtype: float64
      - name: orientations/r_leg_ft_eul/r
        dtype: float64
      - name: orientations/r_leg_ft_eul/p
        dtype: float64
      - name: orientations/r_leg_ft_eul/y
        dtype: float64
      - name: orientations/rfeimu_eul/r
        dtype: float64
      - name: orientations/rfeimu_eul/p
        dtype: float64
      - name: orientations/rfeimu_eul/y
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/r
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/p
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/y
        dtype: float64
      - name: temperatures/l_arm_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_foot_front_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_foot_rear_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_leg_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_arm_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_foot_front_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_foot_rear_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_leg_ft_sensor/temperature
        dtype: float64
    splits:
      - name: train
        num_bytes: 5799669135.1
        num_examples: 13486
    download_size: 4651177600
    dataset_size: 5799669135.1
  - config_name: unsolve01
    features:
      - name: camera/realsense/depth/timestamp
        dtype: float64
      - name: timestamps
        dtype: float64
      - name: camera/realsense/depth/depth_path
        dtype: image
      - name: camera/realsense/rgb/timestamp
        dtype: float64
      - name: camera/realsense/rgb/images_path
        dtype: image
      - name: walking/com/position/CoM_ZMP_controller/element_0
        dtype: float64
      - name: walking/com/position/CoM_ZMP_controller/element_1
        dtype: float64
      - name: walking/com/position/CoM_ZMP_controller/element_2
        dtype: float64
      - name: walking/com/position/desired/element_0
        dtype: float64
      - name: walking/com/position/desired/element_1
        dtype: float64
      - name: walking/com/position/desired/element_2
        dtype: float64
      - name: walking/com/position/measured/element_0
        dtype: float64
      - name: walking/com/position/measured/element_1
        dtype: float64
      - name: walking/com/position/measured/element_2
        dtype: float64
      - name: walking/com/velocity/desired/element_0
        dtype: float64
      - name: walking/com/velocity/desired/element_1
        dtype: float64
      - name: walking/com/velocity/desired/element_2
        dtype: float64
      - name: walking/dcm/position/desired/element_0
        dtype: float64
      - name: walking/dcm/position/desired/element_1
        dtype: float64
      - name: walking/dcm/position/measured/element_0
        dtype: float64
      - name: walking/dcm/position/measured/element_1
        dtype: float64
      - name: walking/dcm/velocity/desired/element_0
        dtype: float64
      - name: walking/dcm/velocity/desired/element_1
        dtype: float64
      - name: walking/joints_state/positions/desired/element_0
        dtype: float64
      - name: walking/joints_state/positions/desired/element_1
        dtype: float64
      - name: walking/joints_state/positions/desired/element_2
        dtype: float64
      - name: walking/joints_state/positions/desired/element_3
        dtype: float64
      - name: walking/joints_state/positions/desired/element_4
        dtype: float64
      - name: walking/joints_state/positions/desired/element_5
        dtype: float64
      - name: walking/joints_state/positions/desired/element_6
        dtype: float64
      - name: walking/joints_state/positions/desired/element_7
        dtype: float64
      - name: walking/joints_state/positions/desired/element_8
        dtype: float64
      - name: walking/joints_state/positions/desired/element_9
        dtype: float64
      - name: walking/joints_state/positions/desired/element_10
        dtype: float64
      - name: walking/joints_state/positions/desired/element_11
        dtype: float64
      - name: walking/joints_state/positions/desired/element_12
        dtype: float64
      - name: walking/joints_state/positions/desired/element_13
        dtype: float64
      - name: walking/joints_state/positions/desired/element_14
        dtype: float64
      - name: walking/joints_state/positions/desired/element_15
        dtype: float64
      - name: walking/joints_state/positions/desired/element_16
        dtype: float64
      - name: walking/joints_state/positions/desired/element_17
        dtype: float64
      - name: walking/joints_state/positions/desired/element_18
        dtype: float64
      - name: walking/joints_state/positions/desired/element_19
        dtype: float64
      - name: walking/joints_state/positions/desired/element_20
        dtype: float64
      - name: walking/joints_state/positions/desired/element_21
        dtype: float64
      - name: walking/joints_state/positions/desired/element_22
        dtype: float64
      - name: walking/joints_state/positions/desired/element_23
        dtype: float64
      - name: walking/joints_state/positions/desired/element_24
        dtype: float64
      - name: walking/joints_state/positions/desired/element_25
        dtype: float64
      - name: walking/joints_state/positions/desired/element_26
        dtype: float64
      - name: walking/joints_state/positions/desired/element_27
        dtype: float64
      - name: walking/joints_state/positions/desired/element_28
        dtype: float64
      - name: walking/joints_state/positions/desired/element_29
        dtype: float64
      - name: walking/joints_state/positions/desired/element_30
        dtype: float64
      - name: walking/joints_state/positions/desired/element_31
        dtype: float64
      - name: walking/joints_state/positions/measured/element_0
        dtype: float64
      - name: walking/joints_state/positions/measured/element_1
        dtype: float64
      - name: walking/joints_state/positions/measured/element_2
        dtype: float64
      - name: walking/joints_state/positions/measured/element_3
        dtype: float64
      - name: walking/joints_state/positions/measured/element_4
        dtype: float64
      - name: walking/joints_state/positions/measured/element_5
        dtype: float64
      - name: walking/joints_state/positions/measured/element_6
        dtype: float64
      - name: walking/joints_state/positions/measured/element_7
        dtype: float64
      - name: walking/joints_state/positions/measured/element_8
        dtype: float64
      - name: walking/joints_state/positions/measured/element_9
        dtype: float64
      - name: walking/joints_state/positions/measured/element_10
        dtype: float64
      - name: walking/joints_state/positions/measured/element_11
        dtype: float64
      - name: walking/joints_state/positions/measured/element_12
        dtype: float64
      - name: walking/joints_state/positions/measured/element_13
        dtype: float64
      - name: walking/joints_state/positions/measured/element_14
        dtype: float64
      - name: walking/joints_state/positions/measured/element_15
        dtype: float64
      - name: walking/joints_state/positions/measured/element_16
        dtype: float64
      - name: walking/joints_state/positions/measured/element_17
        dtype: float64
      - name: walking/joints_state/positions/measured/element_18
        dtype: float64
      - name: walking/joints_state/positions/measured/element_19
        dtype: float64
      - name: walking/joints_state/positions/measured/element_20
        dtype: float64
      - name: walking/joints_state/positions/measured/element_21
        dtype: float64
      - name: walking/joints_state/positions/measured/element_22
        dtype: float64
      - name: walking/joints_state/positions/measured/element_23
        dtype: float64
      - name: walking/joints_state/positions/measured/element_24
        dtype: float64
      - name: walking/joints_state/positions/measured/element_25
        dtype: float64
      - name: walking/joints_state/positions/measured/element_26
        dtype: float64
      - name: walking/joints_state/positions/measured/element_27
        dtype: float64
      - name: walking/joints_state/positions/measured/element_28
        dtype: float64
      - name: walking/joints_state/positions/measured/element_29
        dtype: float64
      - name: walking/joints_state/positions/measured/element_30
        dtype: float64
      - name: walking/joints_state/positions/measured/element_31
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_0
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_1
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_2
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_3
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_4
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_5
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_6
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_7
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_8
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_9
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_10
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_11
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_12
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_13
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_14
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_15
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_16
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_17
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_18
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_19
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_20
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_21
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_22
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_23
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_24
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_25
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_26
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_27
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_28
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_29
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_30
        dtype: float64
      - name: walking/joints_state/positions/retargeting/element_31
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_0
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_1
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_2
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_3
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_4
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_5
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_6
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_7
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_8
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_9
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_10
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_11
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_12
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_13
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_14
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_15
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_16
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_17
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_18
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_19
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_20
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_21
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_22
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_23
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_24
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_25
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_26
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_27
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_28
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_29
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_30
        dtype: float64
      - name: walking/joints_state/velocities/measured/element_31
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_0
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_1
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_2
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_3
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_4
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_5
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_6
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_7
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_8
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_9
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_10
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_11
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_12
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_13
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_14
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_15
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_16
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_17
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_18
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_19
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_20
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_21
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_22
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_23
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_24
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_25
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_26
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_27
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_28
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_29
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_30
        dtype: float64
      - name: walking/joints_state/velocities/retargeting/element_31
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_0
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_1
        dtype: float64
      - name: walking/left_foot/angular_torque/measured/element_2
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_0
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_1
        dtype: float64
      - name: walking/left_foot/angular_velocity/desired/element_2
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_0
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_1
        dtype: float64
      - name: walking/left_foot/linear_force/measured/element_2
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_0
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_1
        dtype: float64
      - name: walking/left_foot/linear_velocity/desired/element_2
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_0
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_1
        dtype: float64
      - name: walking/left_foot/orientation/desired/element_2
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_0
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_1
        dtype: float64
      - name: walking/left_foot/orientation/measured/element_2
        dtype: float64
      - name: walking/left_foot/position/desired/element_0
        dtype: float64
      - name: walking/left_foot/position/desired/element_1
        dtype: float64
      - name: walking/left_foot/position/desired/element_2
        dtype: float64
      - name: walking/left_foot/position/measured/element_0
        dtype: float64
      - name: walking/left_foot/position/measured/element_1
        dtype: float64
      - name: walking/left_foot/position/measured/element_2
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_0
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_1
        dtype: float64
      - name: walking/right_foot/angular_torque/measured/element_2
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_0
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_1
        dtype: float64
      - name: walking/right_foot/angular_velocity/desired/element_2
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_0
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_1
        dtype: float64
      - name: walking/right_foot/linear_force/measured/element_2
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_0
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_1
        dtype: float64
      - name: walking/right_foot/linear_velocity/desired/element_2
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_0
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_1
        dtype: float64
      - name: walking/right_foot/orientation/desired/element_2
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_0
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_1
        dtype: float64
      - name: walking/right_foot/orientation/measured/element_2
        dtype: float64
      - name: walking/right_foot/position/desired/element_0
        dtype: float64
      - name: walking/right_foot/position/desired/element_1
        dtype: float64
      - name: walking/right_foot/position/desired/element_2
        dtype: float64
      - name: walking/right_foot/position/measured/element_0
        dtype: float64
      - name: walking/right_foot/position/measured/element_1
        dtype: float64
      - name: walking/right_foot/position/measured/element_2
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_0
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_1
        dtype: float64
      - name: walking/root_link/angular_velocity/measured/element_2
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_0
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_1
        dtype: float64
      - name: walking/root_link/linear_velocity/measured/element_2
        dtype: float64
      - name: walking/root_link/orientation/measured/element_0
        dtype: float64
      - name: walking/root_link/orientation/measured/element_1
        dtype: float64
      - name: walking/root_link/orientation/measured/element_2
        dtype: float64
      - name: walking/root_link/position/measured/element_0
        dtype: float64
      - name: walking/root_link/position/measured/element_1
        dtype: float64
      - name: walking/root_link/position/measured/element_2
        dtype: float64
      - name: walking/stance_foot/is_left/element_0
        dtype: float64
      - name: walking/zmp/desired/element_0
        dtype: float64
      - name: walking/zmp/desired/element_1
        dtype: float64
      - name: walking/zmp/desired_planner/element_0
        dtype: float64
      - name: walking/zmp/desired_planner/element_1
        dtype: float64
      - name: walking/zmp/measured/element_0
        dtype: float64
      - name: walking/zmp/measured/element_1
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_arm_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_arm_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_foot_front_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_foot_rear_ft_sensor/mu_z
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_x
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_y
        dtype: float64
      - name: FTs/l_leg_ft_sensor/f_z
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_x
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_y
        dtype: float64
      - name: FTs/l_leg_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_arm_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_arm_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_foot_front_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_foot_rear_ft_sensor/mu_z
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_x
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_y
        dtype: float64
      - name: FTs/r_leg_ft_sensor/f_z
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_x
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_y
        dtype: float64
      - name: FTs/r_leg_ft_sensor/mu_z
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_arm_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_foot_front_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_foot_rear_ft_acc/a_z
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_x
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_y
        dtype: float64
      - name: accelerometers/l_leg_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_arm_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_foot_front_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_foot_rear_ft_acc/a_z
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_x
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_y
        dtype: float64
      - name: accelerometers/r_leg_ft_acc/a_z
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_x
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_y
        dtype: float64
      - name: accelerometers/rfeimu_acc/a_z
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_x
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_y
        dtype: float64
      - name: accelerometers/sensor_imu_xsensmt/a_z
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_arm_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_front_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/left_rear_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_arm_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_front_wrench_client/mu_z
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_x
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_y
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/f_z
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_x
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_y
        dtype: float64
      - name: cartesian_wrenches/right_rear_wrench_client/mu_z
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_arm_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_foot_front_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_foot_rear_ft_gyro/omega_z
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_x
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_y
        dtype: float64
      - name: gyros/l_leg_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_arm_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_foot_front_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_foot_rear_ft_gyro/omega_z
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_x
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_y
        dtype: float64
      - name: gyros/r_leg_ft_gyro/omega_z
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_x
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_y
        dtype: float64
      - name: gyros/rfeimu_gyro/omega_z
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_x
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_y
        dtype: float64
      - name: gyros/sensor_imu_xsensmt/omega_z
        dtype: float64
      - name: joints_state/accelerations/neck_pitch
        dtype: float64
      - name: joints_state/accelerations/neck_roll
        dtype: float64
      - name: joints_state/accelerations/neck_yaw
        dtype: float64
      - name: joints_state/accelerations/camera_tilt
        dtype: float64
      - name: joints_state/accelerations/torso_pitch
        dtype: float64
      - name: joints_state/accelerations/torso_roll
        dtype: float64
      - name: joints_state/accelerations/torso_yaw
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_pitch
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_roll
        dtype: float64
      - name: joints_state/accelerations/l_shoulder_yaw
        dtype: float64
      - name: joints_state/accelerations/l_elbow
        dtype: float64
      - name: joints_state/accelerations/l_wrist_roll
        dtype: float64
      - name: joints_state/accelerations/l_wrist_pitch
        dtype: float64
      - name: joints_state/accelerations/l_wrist_yaw
        dtype: float64
      - name: joints_state/accelerations/l_thumb_add
        dtype: float64
      - name: joints_state/accelerations/l_thumb_oc
        dtype: float64
      - name: joints_state/accelerations/l_index_oc
        dtype: float64
      - name: joints_state/accelerations/l_middle_oc
        dtype: float64
      - name: joints_state/accelerations/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_pitch
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_roll
        dtype: float64
      - name: joints_state/accelerations/r_shoulder_yaw
        dtype: float64
      - name: joints_state/accelerations/r_elbow
        dtype: float64
      - name: joints_state/accelerations/r_wrist_roll
        dtype: float64
      - name: joints_state/accelerations/r_wrist_pitch
        dtype: float64
      - name: joints_state/accelerations/r_wrist_yaw
        dtype: float64
      - name: joints_state/accelerations/r_thumb_add
        dtype: float64
      - name: joints_state/accelerations/r_thumb_oc
        dtype: float64
      - name: joints_state/accelerations/r_index_oc
        dtype: float64
      - name: joints_state/accelerations/r_middle_oc
        dtype: float64
      - name: joints_state/accelerations/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/accelerations/l_hip_pitch
        dtype: float64
      - name: joints_state/accelerations/l_hip_roll
        dtype: float64
      - name: joints_state/accelerations/l_hip_yaw
        dtype: float64
      - name: joints_state/accelerations/l_knee
        dtype: float64
      - name: joints_state/accelerations/l_ankle_pitch
        dtype: float64
      - name: joints_state/accelerations/l_ankle_roll
        dtype: float64
      - name: joints_state/accelerations/r_hip_pitch
        dtype: float64
      - name: joints_state/accelerations/r_hip_roll
        dtype: float64
      - name: joints_state/accelerations/r_hip_yaw
        dtype: float64
      - name: joints_state/accelerations/r_knee
        dtype: float64
      - name: joints_state/accelerations/r_ankle_pitch
        dtype: float64
      - name: joints_state/accelerations/r_ankle_roll
        dtype: float64
      - name: joints_state/positions/neck_pitch
        dtype: float64
      - name: joints_state/positions/neck_roll
        dtype: float64
      - name: joints_state/positions/neck_yaw
        dtype: float64
      - name: joints_state/positions/camera_tilt
        dtype: float64
      - name: joints_state/positions/torso_pitch
        dtype: float64
      - name: joints_state/positions/torso_roll
        dtype: float64
      - name: joints_state/positions/torso_yaw
        dtype: float64
      - name: joints_state/positions/l_shoulder_pitch
        dtype: float64
      - name: joints_state/positions/l_shoulder_roll
        dtype: float64
      - name: joints_state/positions/l_shoulder_yaw
        dtype: float64
      - name: joints_state/positions/l_elbow
        dtype: float64
      - name: joints_state/positions/l_wrist_roll
        dtype: float64
      - name: joints_state/positions/l_wrist_pitch
        dtype: float64
      - name: joints_state/positions/l_wrist_yaw
        dtype: float64
      - name: joints_state/positions/l_thumb_add
        dtype: float64
      - name: joints_state/positions/l_thumb_oc
        dtype: float64
      - name: joints_state/positions/l_index_oc
        dtype: float64
      - name: joints_state/positions/l_middle_oc
        dtype: float64
      - name: joints_state/positions/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/positions/r_shoulder_pitch
        dtype: float64
      - name: joints_state/positions/r_shoulder_roll
        dtype: float64
      - name: joints_state/positions/r_shoulder_yaw
        dtype: float64
      - name: joints_state/positions/r_elbow
        dtype: float64
      - name: joints_state/positions/r_wrist_roll
        dtype: float64
      - name: joints_state/positions/r_wrist_pitch
        dtype: float64
      - name: joints_state/positions/r_wrist_yaw
        dtype: float64
      - name: joints_state/positions/r_thumb_add
        dtype: float64
      - name: joints_state/positions/r_thumb_oc
        dtype: float64
      - name: joints_state/positions/r_index_oc
        dtype: float64
      - name: joints_state/positions/r_middle_oc
        dtype: float64
      - name: joints_state/positions/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/positions/l_hip_pitch
        dtype: float64
      - name: joints_state/positions/l_hip_roll
        dtype: float64
      - name: joints_state/positions/l_hip_yaw
        dtype: float64
      - name: joints_state/positions/l_knee
        dtype: float64
      - name: joints_state/positions/l_ankle_pitch
        dtype: float64
      - name: joints_state/positions/l_ankle_roll
        dtype: float64
      - name: joints_state/positions/r_hip_pitch
        dtype: float64
      - name: joints_state/positions/r_hip_roll
        dtype: float64
      - name: joints_state/positions/r_hip_yaw
        dtype: float64
      - name: joints_state/positions/r_knee
        dtype: float64
      - name: joints_state/positions/r_ankle_pitch
        dtype: float64
      - name: joints_state/positions/r_ankle_roll
        dtype: float64
      - name: joints_state/torques/neck_pitch
        dtype: float64
      - name: joints_state/torques/neck_roll
        dtype: float64
      - name: joints_state/torques/neck_yaw
        dtype: float64
      - name: joints_state/torques/camera_tilt
        dtype: float64
      - name: joints_state/torques/torso_pitch
        dtype: float64
      - name: joints_state/torques/torso_roll
        dtype: float64
      - name: joints_state/torques/torso_yaw
        dtype: float64
      - name: joints_state/torques/l_shoulder_pitch
        dtype: float64
      - name: joints_state/torques/l_shoulder_roll
        dtype: float64
      - name: joints_state/torques/l_shoulder_yaw
        dtype: float64
      - name: joints_state/torques/l_elbow
        dtype: float64
      - name: joints_state/torques/l_wrist_roll
        dtype: float64
      - name: joints_state/torques/l_wrist_pitch
        dtype: float64
      - name: joints_state/torques/l_wrist_yaw
        dtype: float64
      - name: joints_state/torques/l_thumb_add
        dtype: float64
      - name: joints_state/torques/l_thumb_oc
        dtype: float64
      - name: joints_state/torques/l_index_oc
        dtype: float64
      - name: joints_state/torques/l_middle_oc
        dtype: float64
      - name: joints_state/torques/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/torques/r_shoulder_pitch
        dtype: float64
      - name: joints_state/torques/r_shoulder_roll
        dtype: float64
      - name: joints_state/torques/r_shoulder_yaw
        dtype: float64
      - name: joints_state/torques/r_elbow
        dtype: float64
      - name: joints_state/torques/r_wrist_roll
        dtype: float64
      - name: joints_state/torques/r_wrist_pitch
        dtype: float64
      - name: joints_state/torques/r_wrist_yaw
        dtype: float64
      - name: joints_state/torques/r_thumb_add
        dtype: float64
      - name: joints_state/torques/r_thumb_oc
        dtype: float64
      - name: joints_state/torques/r_index_oc
        dtype: float64
      - name: joints_state/torques/r_middle_oc
        dtype: float64
      - name: joints_state/torques/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/torques/l_hip_pitch
        dtype: float64
      - name: joints_state/torques/l_hip_roll
        dtype: float64
      - name: joints_state/torques/l_hip_yaw
        dtype: float64
      - name: joints_state/torques/l_knee
        dtype: float64
      - name: joints_state/torques/l_ankle_pitch
        dtype: float64
      - name: joints_state/torques/l_ankle_roll
        dtype: float64
      - name: joints_state/torques/r_hip_pitch
        dtype: float64
      - name: joints_state/torques/r_hip_roll
        dtype: float64
      - name: joints_state/torques/r_hip_yaw
        dtype: float64
      - name: joints_state/torques/r_knee
        dtype: float64
      - name: joints_state/torques/r_ankle_pitch
        dtype: float64
      - name: joints_state/torques/r_ankle_roll
        dtype: float64
      - name: joints_state/velocities/neck_pitch
        dtype: float64
      - name: joints_state/velocities/neck_roll
        dtype: float64
      - name: joints_state/velocities/neck_yaw
        dtype: float64
      - name: joints_state/velocities/camera_tilt
        dtype: float64
      - name: joints_state/velocities/torso_pitch
        dtype: float64
      - name: joints_state/velocities/torso_roll
        dtype: float64
      - name: joints_state/velocities/torso_yaw
        dtype: float64
      - name: joints_state/velocities/l_shoulder_pitch
        dtype: float64
      - name: joints_state/velocities/l_shoulder_roll
        dtype: float64
      - name: joints_state/velocities/l_shoulder_yaw
        dtype: float64
      - name: joints_state/velocities/l_elbow
        dtype: float64
      - name: joints_state/velocities/l_wrist_roll
        dtype: float64
      - name: joints_state/velocities/l_wrist_pitch
        dtype: float64
      - name: joints_state/velocities/l_wrist_yaw
        dtype: float64
      - name: joints_state/velocities/l_thumb_add
        dtype: float64
      - name: joints_state/velocities/l_thumb_oc
        dtype: float64
      - name: joints_state/velocities/l_index_oc
        dtype: float64
      - name: joints_state/velocities/l_middle_oc
        dtype: float64
      - name: joints_state/velocities/l_ring_pinky_oc
        dtype: float64
      - name: joints_state/velocities/r_shoulder_pitch
        dtype: float64
      - name: joints_state/velocities/r_shoulder_roll
        dtype: float64
      - name: joints_state/velocities/r_shoulder_yaw
        dtype: float64
      - name: joints_state/velocities/r_elbow
        dtype: float64
      - name: joints_state/velocities/r_wrist_roll
        dtype: float64
      - name: joints_state/velocities/r_wrist_pitch
        dtype: float64
      - name: joints_state/velocities/r_wrist_yaw
        dtype: float64
      - name: joints_state/velocities/r_thumb_add
        dtype: float64
      - name: joints_state/velocities/r_thumb_oc
        dtype: float64
      - name: joints_state/velocities/r_index_oc
        dtype: float64
      - name: joints_state/velocities/r_middle_oc
        dtype: float64
      - name: joints_state/velocities/r_ring_pinky_oc
        dtype: float64
      - name: joints_state/velocities/l_hip_pitch
        dtype: float64
      - name: joints_state/velocities/l_hip_roll
        dtype: float64
      - name: joints_state/velocities/l_hip_yaw
        dtype: float64
      - name: joints_state/velocities/l_knee
        dtype: float64
      - name: joints_state/velocities/l_ankle_pitch
        dtype: float64
      - name: joints_state/velocities/l_ankle_roll
        dtype: float64
      - name: joints_state/velocities/r_hip_pitch
        dtype: float64
      - name: joints_state/velocities/r_hip_roll
        dtype: float64
      - name: joints_state/velocities/r_hip_yaw
        dtype: float64
      - name: joints_state/velocities/r_knee
        dtype: float64
      - name: joints_state/velocities/r_ankle_pitch
        dtype: float64
      - name: joints_state/velocities/r_ankle_roll
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_arm_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_foot_front_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_foot_rear_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/l_leg_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_arm_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_foot_front_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_foot_rear_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_x
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_y
        dtype: float64
      - name: magnetometers/r_leg_ft_mag/mag_z
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_x
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_y
        dtype: float64
      - name: magnetometers/rfeimu_mag/mag_z
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_x
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_y
        dtype: float64
      - name: magnetometers/sensor_imu_xsensmt/mag_z
        dtype: float64
      - name: motors_state/PWM/neck_pitch
        dtype: float64
      - name: motors_state/PWM/neck_roll
        dtype: float64
      - name: motors_state/PWM/neck_yaw
        dtype: float64
      - name: motors_state/PWM/camera_tilt
        dtype: float64
      - name: motors_state/PWM/torso_pitch
        dtype: float64
      - name: motors_state/PWM/torso_roll
        dtype: float64
      - name: motors_state/PWM/torso_yaw
        dtype: float64
      - name: motors_state/PWM/l_shoulder_pitch
        dtype: float64
      - name: motors_state/PWM/l_shoulder_roll
        dtype: float64
      - name: motors_state/PWM/l_shoulder_yaw
        dtype: float64
      - name: motors_state/PWM/l_elbow
        dtype: float64
      - name: motors_state/PWM/l_wrist_roll
        dtype: float64
      - name: motors_state/PWM/l_wrist_pitch
        dtype: float64
      - name: motors_state/PWM/l_wrist_yaw
        dtype: float64
      - name: motors_state/PWM/l_thumb_add
        dtype: float64
      - name: motors_state/PWM/l_thumb_oc
        dtype: float64
      - name: motors_state/PWM/l_index_oc
        dtype: float64
      - name: motors_state/PWM/l_middle_oc
        dtype: float64
      - name: motors_state/PWM/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/PWM/r_shoulder_pitch
        dtype: float64
      - name: motors_state/PWM/r_shoulder_roll
        dtype: float64
      - name: motors_state/PWM/r_shoulder_yaw
        dtype: float64
      - name: motors_state/PWM/r_elbow
        dtype: float64
      - name: motors_state/PWM/r_wrist_roll
        dtype: float64
      - name: motors_state/PWM/r_wrist_pitch
        dtype: float64
      - name: motors_state/PWM/r_wrist_yaw
        dtype: float64
      - name: motors_state/PWM/r_thumb_add
        dtype: float64
      - name: motors_state/PWM/r_thumb_oc
        dtype: float64
      - name: motors_state/PWM/r_index_oc
        dtype: float64
      - name: motors_state/PWM/r_middle_oc
        dtype: float64
      - name: motors_state/PWM/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/PWM/l_hip_pitch
        dtype: float64
      - name: motors_state/PWM/l_hip_roll
        dtype: float64
      - name: motors_state/PWM/l_hip_yaw
        dtype: float64
      - name: motors_state/PWM/l_knee
        dtype: float64
      - name: motors_state/PWM/l_ankle_pitch
        dtype: float64
      - name: motors_state/PWM/l_ankle_roll
        dtype: float64
      - name: motors_state/PWM/r_hip_pitch
        dtype: float64
      - name: motors_state/PWM/r_hip_roll
        dtype: float64
      - name: motors_state/PWM/r_hip_yaw
        dtype: float64
      - name: motors_state/PWM/r_knee
        dtype: float64
      - name: motors_state/PWM/r_ankle_pitch
        dtype: float64
      - name: motors_state/PWM/r_ankle_roll
        dtype: float64
      - name: motors_state/accelerations/neck_pitch
        dtype: float64
      - name: motors_state/accelerations/neck_roll
        dtype: float64
      - name: motors_state/accelerations/neck_yaw
        dtype: float64
      - name: motors_state/accelerations/camera_tilt
        dtype: float64
      - name: motors_state/accelerations/torso_pitch
        dtype: float64
      - name: motors_state/accelerations/torso_roll
        dtype: float64
      - name: motors_state/accelerations/torso_yaw
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_pitch
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_roll
        dtype: float64
      - name: motors_state/accelerations/l_shoulder_yaw
        dtype: float64
      - name: motors_state/accelerations/l_elbow
        dtype: float64
      - name: motors_state/accelerations/l_wrist_roll
        dtype: float64
      - name: motors_state/accelerations/l_wrist_pitch
        dtype: float64
      - name: motors_state/accelerations/l_wrist_yaw
        dtype: float64
      - name: motors_state/accelerations/l_thumb_add
        dtype: float64
      - name: motors_state/accelerations/l_thumb_oc
        dtype: float64
      - name: motors_state/accelerations/l_index_oc
        dtype: float64
      - name: motors_state/accelerations/l_middle_oc
        dtype: float64
      - name: motors_state/accelerations/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_pitch
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_roll
        dtype: float64
      - name: motors_state/accelerations/r_shoulder_yaw
        dtype: float64
      - name: motors_state/accelerations/r_elbow
        dtype: float64
      - name: motors_state/accelerations/r_wrist_roll
        dtype: float64
      - name: motors_state/accelerations/r_wrist_pitch
        dtype: float64
      - name: motors_state/accelerations/r_wrist_yaw
        dtype: float64
      - name: motors_state/accelerations/r_thumb_add
        dtype: float64
      - name: motors_state/accelerations/r_thumb_oc
        dtype: float64
      - name: motors_state/accelerations/r_index_oc
        dtype: float64
      - name: motors_state/accelerations/r_middle_oc
        dtype: float64
      - name: motors_state/accelerations/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/accelerations/l_hip_pitch
        dtype: float64
      - name: motors_state/accelerations/l_hip_roll
        dtype: float64
      - name: motors_state/accelerations/l_hip_yaw
        dtype: float64
      - name: motors_state/accelerations/l_knee
        dtype: float64
      - name: motors_state/accelerations/l_ankle_pitch
        dtype: float64
      - name: motors_state/accelerations/l_ankle_roll
        dtype: float64
      - name: motors_state/accelerations/r_hip_pitch
        dtype: float64
      - name: motors_state/accelerations/r_hip_roll
        dtype: float64
      - name: motors_state/accelerations/r_hip_yaw
        dtype: float64
      - name: motors_state/accelerations/r_knee
        dtype: float64
      - name: motors_state/accelerations/r_ankle_pitch
        dtype: float64
      - name: motors_state/accelerations/r_ankle_roll
        dtype: float64
      - name: motors_state/currents/neck_pitch
        dtype: float64
      - name: motors_state/currents/neck_roll
        dtype: float64
      - name: motors_state/currents/neck_yaw
        dtype: float64
      - name: motors_state/currents/camera_tilt
        dtype: float64
      - name: motors_state/currents/torso_pitch
        dtype: float64
      - name: motors_state/currents/torso_roll
        dtype: float64
      - name: motors_state/currents/torso_yaw
        dtype: float64
      - name: motors_state/currents/l_shoulder_pitch
        dtype: float64
      - name: motors_state/currents/l_shoulder_roll
        dtype: float64
      - name: motors_state/currents/l_shoulder_yaw
        dtype: float64
      - name: motors_state/currents/l_elbow
        dtype: float64
      - name: motors_state/currents/l_wrist_roll
        dtype: float64
      - name: motors_state/currents/l_wrist_pitch
        dtype: float64
      - name: motors_state/currents/l_wrist_yaw
        dtype: float64
      - name: motors_state/currents/l_thumb_add
        dtype: float64
      - name: motors_state/currents/l_thumb_oc
        dtype: float64
      - name: motors_state/currents/l_index_oc
        dtype: float64
      - name: motors_state/currents/l_middle_oc
        dtype: float64
      - name: motors_state/currents/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/currents/r_shoulder_pitch
        dtype: float64
      - name: motors_state/currents/r_shoulder_roll
        dtype: float64
      - name: motors_state/currents/r_shoulder_yaw
        dtype: float64
      - name: motors_state/currents/r_elbow
        dtype: float64
      - name: motors_state/currents/r_wrist_roll
        dtype: float64
      - name: motors_state/currents/r_wrist_pitch
        dtype: float64
      - name: motors_state/currents/r_wrist_yaw
        dtype: float64
      - name: motors_state/currents/r_thumb_add
        dtype: float64
      - name: motors_state/currents/r_thumb_oc
        dtype: float64
      - name: motors_state/currents/r_index_oc
        dtype: float64
      - name: motors_state/currents/r_middle_oc
        dtype: float64
      - name: motors_state/currents/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/currents/l_hip_pitch
        dtype: float64
      - name: motors_state/currents/l_hip_roll
        dtype: float64
      - name: motors_state/currents/l_hip_yaw
        dtype: float64
      - name: motors_state/currents/l_knee
        dtype: float64
      - name: motors_state/currents/l_ankle_pitch
        dtype: float64
      - name: motors_state/currents/l_ankle_roll
        dtype: float64
      - name: motors_state/currents/r_hip_pitch
        dtype: float64
      - name: motors_state/currents/r_hip_roll
        dtype: float64
      - name: motors_state/currents/r_hip_yaw
        dtype: float64
      - name: motors_state/currents/r_knee
        dtype: float64
      - name: motors_state/currents/r_ankle_pitch
        dtype: float64
      - name: motors_state/currents/r_ankle_roll
        dtype: float64
      - name: motors_state/positions/neck_pitch
        dtype: float64
      - name: motors_state/positions/neck_roll
        dtype: float64
      - name: motors_state/positions/neck_yaw
        dtype: float64
      - name: motors_state/positions/camera_tilt
        dtype: float64
      - name: motors_state/positions/torso_pitch
        dtype: float64
      - name: motors_state/positions/torso_roll
        dtype: float64
      - name: motors_state/positions/torso_yaw
        dtype: float64
      - name: motors_state/positions/l_shoulder_pitch
        dtype: float64
      - name: motors_state/positions/l_shoulder_roll
        dtype: float64
      - name: motors_state/positions/l_shoulder_yaw
        dtype: float64
      - name: motors_state/positions/l_elbow
        dtype: float64
      - name: motors_state/positions/l_wrist_roll
        dtype: float64
      - name: motors_state/positions/l_wrist_pitch
        dtype: float64
      - name: motors_state/positions/l_wrist_yaw
        dtype: float64
      - name: motors_state/positions/l_thumb_add
        dtype: float64
      - name: motors_state/positions/l_thumb_oc
        dtype: float64
      - name: motors_state/positions/l_index_oc
        dtype: float64
      - name: motors_state/positions/l_middle_oc
        dtype: float64
      - name: motors_state/positions/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/positions/r_shoulder_pitch
        dtype: float64
      - name: motors_state/positions/r_shoulder_roll
        dtype: float64
      - name: motors_state/positions/r_shoulder_yaw
        dtype: float64
      - name: motors_state/positions/r_elbow
        dtype: float64
      - name: motors_state/positions/r_wrist_roll
        dtype: float64
      - name: motors_state/positions/r_wrist_pitch
        dtype: float64
      - name: motors_state/positions/r_wrist_yaw
        dtype: float64
      - name: motors_state/positions/r_thumb_add
        dtype: float64
      - name: motors_state/positions/r_thumb_oc
        dtype: float64
      - name: motors_state/positions/r_index_oc
        dtype: float64
      - name: motors_state/positions/r_middle_oc
        dtype: float64
      - name: motors_state/positions/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/positions/l_hip_pitch
        dtype: float64
      - name: motors_state/positions/l_hip_roll
        dtype: float64
      - name: motors_state/positions/l_hip_yaw
        dtype: float64
      - name: motors_state/positions/l_knee
        dtype: float64
      - name: motors_state/positions/l_ankle_pitch
        dtype: float64
      - name: motors_state/positions/l_ankle_roll
        dtype: float64
      - name: motors_state/positions/r_hip_pitch
        dtype: float64
      - name: motors_state/positions/r_hip_roll
        dtype: float64
      - name: motors_state/positions/r_hip_yaw
        dtype: float64
      - name: motors_state/positions/r_knee
        dtype: float64
      - name: motors_state/positions/r_ankle_pitch
        dtype: float64
      - name: motors_state/positions/r_ankle_roll
        dtype: float64
      - name: motors_state/velocities/neck_pitch
        dtype: float64
      - name: motors_state/velocities/neck_roll
        dtype: float64
      - name: motors_state/velocities/neck_yaw
        dtype: float64
      - name: motors_state/velocities/camera_tilt
        dtype: float64
      - name: motors_state/velocities/torso_pitch
        dtype: float64
      - name: motors_state/velocities/torso_roll
        dtype: float64
      - name: motors_state/velocities/torso_yaw
        dtype: float64
      - name: motors_state/velocities/l_shoulder_pitch
        dtype: float64
      - name: motors_state/velocities/l_shoulder_roll
        dtype: float64
      - name: motors_state/velocities/l_shoulder_yaw
        dtype: float64
      - name: motors_state/velocities/l_elbow
        dtype: float64
      - name: motors_state/velocities/l_wrist_roll
        dtype: float64
      - name: motors_state/velocities/l_wrist_pitch
        dtype: float64
      - name: motors_state/velocities/l_wrist_yaw
        dtype: float64
      - name: motors_state/velocities/l_thumb_add
        dtype: float64
      - name: motors_state/velocities/l_thumb_oc
        dtype: float64
      - name: motors_state/velocities/l_index_oc
        dtype: float64
      - name: motors_state/velocities/l_middle_oc
        dtype: float64
      - name: motors_state/velocities/l_ring_pinky_oc
        dtype: float64
      - name: motors_state/velocities/r_shoulder_pitch
        dtype: float64
      - name: motors_state/velocities/r_shoulder_roll
        dtype: float64
      - name: motors_state/velocities/r_shoulder_yaw
        dtype: float64
      - name: motors_state/velocities/r_elbow
        dtype: float64
      - name: motors_state/velocities/r_wrist_roll
        dtype: float64
      - name: motors_state/velocities/r_wrist_pitch
        dtype: float64
      - name: motors_state/velocities/r_wrist_yaw
        dtype: float64
      - name: motors_state/velocities/r_thumb_add
        dtype: float64
      - name: motors_state/velocities/r_thumb_oc
        dtype: float64
      - name: motors_state/velocities/r_index_oc
        dtype: float64
      - name: motors_state/velocities/r_middle_oc
        dtype: float64
      - name: motors_state/velocities/r_ring_pinky_oc
        dtype: float64
      - name: motors_state/velocities/l_hip_pitch
        dtype: float64
      - name: motors_state/velocities/l_hip_roll
        dtype: float64
      - name: motors_state/velocities/l_hip_yaw
        dtype: float64
      - name: motors_state/velocities/l_knee
        dtype: float64
      - name: motors_state/velocities/l_ankle_pitch
        dtype: float64
      - name: motors_state/velocities/l_ankle_roll
        dtype: float64
      - name: motors_state/velocities/r_hip_pitch
        dtype: float64
      - name: motors_state/velocities/r_hip_roll
        dtype: float64
      - name: motors_state/velocities/r_hip_yaw
        dtype: float64
      - name: motors_state/velocities/r_knee
        dtype: float64
      - name: motors_state/velocities/r_ankle_pitch
        dtype: float64
      - name: motors_state/velocities/r_ankle_roll
        dtype: float64
      - name: orientations/l_arm_ft_eul/r
        dtype: float64
      - name: orientations/l_arm_ft_eul/p
        dtype: float64
      - name: orientations/l_arm_ft_eul/y
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/r
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/p
        dtype: float64
      - name: orientations/l_foot_front_ft_eul/y
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/r
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/p
        dtype: float64
      - name: orientations/l_foot_rear_ft_eul/y
        dtype: float64
      - name: orientations/l_leg_ft_eul/r
        dtype: float64
      - name: orientations/l_leg_ft_eul/p
        dtype: float64
      - name: orientations/l_leg_ft_eul/y
        dtype: float64
      - name: orientations/r_arm_ft_eul/r
        dtype: float64
      - name: orientations/r_arm_ft_eul/p
        dtype: float64
      - name: orientations/r_arm_ft_eul/y
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/r
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/p
        dtype: float64
      - name: orientations/r_foot_front_ft_eul/y
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/r
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/p
        dtype: float64
      - name: orientations/r_foot_rear_ft_eul/y
        dtype: float64
      - name: orientations/r_leg_ft_eul/r
        dtype: float64
      - name: orientations/r_leg_ft_eul/p
        dtype: float64
      - name: orientations/r_leg_ft_eul/y
        dtype: float64
      - name: orientations/rfeimu_eul/r
        dtype: float64
      - name: orientations/rfeimu_eul/p
        dtype: float64
      - name: orientations/rfeimu_eul/y
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/r
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/p
        dtype: float64
      - name: orientations/sensor_imu_xsensmt/y
        dtype: float64
      - name: temperatures/l_arm_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_foot_front_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_foot_rear_ft_sensor/temperature
        dtype: float64
      - name: temperatures/l_leg_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_arm_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_foot_front_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_foot_rear_ft_sensor/temperature
        dtype: float64
      - name: temperatures/r_leg_ft_sensor/temperature
        dtype: float64
    splits:
      - name: train
        num_bytes: 4632803241.129
        num_examples: 10531
    download_size: 3015455252
    dataset_size: 4632803241.129
configs:
  - config_name: solve01
    data_files:
      - split: train
        path: solve01/train-*
  - config_name: unsolve01
    data_files:
      - split: train
        path: unsolve01/train-*
license: cc-by-4.0
pretty_name: Puzzle Manipulation Datasets
tags:
  - robotics
  - manipulation
  - teleoperation

Puzzle Manipulation Datasets

This dataset is a collection of logged data from the teleoperation of ergoCub manipulating a puzzle.

Dataset Details

Dataset Description

This dataset contains data from the teleoperation of ergoCub collected in an experiment where the robot first unsolves then solves a puzzle.

  • Curated by: Giovanni Fregonese (@giotherobot)
  • License: CC BY 4.0

Dataset Creation

Curation Rationale

The dataset was created to enable the development of autonomous manipulation algorithms for the ergoCub robot.

Data Collection and Processing

The data colletion was performed using the tools developed for the ANA Avatar XPRIZE competition. The technology stack used for the data collection is described in the paper: iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

Who are the source data producers?

The data was collected by the AMI research line at the Istituto Italiano di Tecnologia.

Personal and Sensitive Information

The dataset does not contain personal or sensitive information.