ami-iit/puzzle_manipulation_datasets

Name: ami-iit/puzzle_manipulation_datasets
Creator: ami-iit
Published: 2024-02-23 15:36:36
License: 暂无描述

Hugging Face2024-02-23 更新2024-03-04 收录

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https://hf-mirror.com/datasets/ami-iit/puzzle_manipulation_datasets

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资源简介：

--- 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 - 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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](https://ergocub.eu/) manipulating a puzzle. ## Dataset Details ### Dataset Description  This dataset contains data from the teleoperation of [ergoCub](https://ergocub.eu/) 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](https://www.science.org/doi/10.1126/scirobotics.adh3834). #### Who are the source data producers?  The data was collected by the [AMI](https://ami.iit.it/) research line at the Istituto Italiano di Tecnologia. #### Personal and Sensitive Information  The dataset does not contain personal or sensitive information.

提供机构：

ami-iit

原始信息汇总

数据集概述

数据集配置

配置名称: solve01

特征列表

相机数据
- camera/realsense/depth/timestamp: 深度相机时间戳 (float64)
- camera/realsense/depth/depth_path: 深度图像路径 (image)
- camera/realsense/rgb/timestamp: RGB相机时间戳 (float64)
- camera/realsense/rgb/images_path: RGB图像路径 (image)
时间戳
- timestamps: 时间戳 (float64)
步行相关数据
- 质心 (CoM) 位置控制器
  - walking/com/position/CoM_ZMP_controller/element_0: 元素0 (float64)
  - walking/com/position/CoM_ZMP_controller/element_1: 元素1 (float64)
  - walking/com/position/CoM_ZMP_controller/element_2: 元素2 (float64)
- 期望质心位置
  - walking/com/position/desired/element_0: 元素0 (float64)
  - walking/com/position/desired/element_1: 元素1 (float64)
  - walking/com/position/desired/element_2: 元素2 (float64)
- 测量质心位置
  - walking/com/position/measured/element_0: 元素0 (float64)
  - walking/com/position/measured/element_1: 元素1 (float64)
  - walking/com/position/measured/element_2: 元素2 (float64)
- 期望质心速度
  - walking/com/velocity/desired/element_0: 元素0 (float64)
  - walking/com/velocity/desired/element_1: 元素1 (float64)
  - walking/com/velocity/desired/element_2: 元素2 (float64)
- 期望DCM位置
  - walking/dcm/position/desired/element_0: 元素0 (float64)
  - walking/dcm/position/desired/element_1: 元素1 (float64)
- 测量DCM位置
  - walking/dcm/position/measured/element_0: 元素0 (float64)
  - walking/dcm/position/measured/element_1: 元素1 (float64)
- 期望DCM速度
  - walking/dcm/velocity/desired/element_0: 元素0 (float64)
  - walking/dcm/velocity/desired/element_1: 元素1 (float64)
关节状态数据
- 期望关节位置
  - walking/joints_state/positions/desired/element_0 至 walking/joints_state/positions/desired/element_31: 元素0至31 (float64)
- 测量关节位置
  - walking/joints_state/positions/measured/element_0 至 walking/joints_state/positions/measured/element_31: 元素0至31 (float64)
- 重定向关节位置
  - walking/joints_state/positions/retargeting/element_0 至 walking/joints_state/positions/retargeting/element_31: 元素0至31 (float64)
- 测量关节速度
  - walking/joints_state/velocities/measured/element_0 至 walking/joints_state/velocities/measured/element_31: 元素0至31 (float64)
- 重定向关节速度
  - walking/joints_state/velocities/retargeting/element_0 至 walking/joints_state/velocities/retargeting/element_31: 元素0至31 (float64)
左脚数据
- 测量左脚角扭矩
  - walking/left_foot/angular_torque/measured/element_0 至 walking/left_foot/angular_torque/measured/element_2: 元素0至2 (float64)
- 期望左脚角速度
  - walking/left_foot/angular_velocity/desired/element_0 至 walking/left_foot/angular_velocity/desired/element_2: 元素0至2 (float64)
- 测量左脚线性力
  - walking/left_foot/linear_force/measured/element_0 至 walking/left_foot/linear_force/measured/element_2: 元素0至2 (float64)
- 期望左脚线性速度
  - walking/left_foot/linear_velocity/desired/element_0 至 walking/left_foot/linear_velocity/desired/element_2: 元素0至2 (float64)
- 期望左脚方向
  - walking/left_foot/orientation/desired/element_0 至 walking/left_foot/orientation/desired/element_2: 元素0至2 (float64)
- 测量左脚方向
  - walking/left_foot/orientation/measured/element_0 至 walking/left_foot/orientation/measured/element_2: 元素0至2 (float64)
- 期望左脚位置
  - walking/left_foot/position/desired/element_0 至 walking/left_foot/position/desired/element_2: 元素0至2 (float64)
- 测量左脚位置
  - walking/left_foot/position/measured/element_0 至 walking/left_foot/position/measured/element_2: 元素0至2 (float64)
右脚数据
- 测量右脚角扭矩
  - walking/right_foot/angular_torque/measured/element_0 至 walking/right_foot/angular_torque/measured/element_2: 元素0至2 (float64)
- 期望右脚角速度
  - walking/right_foot/angular_velocity/desired/element_0 至 walking/right_foot/angular_velocity/desired/element_2: 元素0至2 (float64)
- 测量右脚线性力
  - walking/right_foot/linear_force/measured/element_0 至 walking/right_foot/linear_force/measured/element_2: 元素0至2 (float64)
- 期望右脚线性速度
  - walking/right_foot/linear_velocity/desired/element_0 至 walking/right_foot/linear_velocity/desired/element_2: 元素0至2 (float64)
- 期望右脚方向
  - walking/right_foot/orientation/desired/element_0 至 walking/right_foot/orientation/desired/element_2: 元素0至2 (float64)
- 测量右脚方向
  - walking/right_foot/orientation/measured/element_0 至 walking/right_foot/orientation/measured/element_2: 元素0至2 (float64)
- 期望右脚位置
  - walking/right_foot/position/desired/element_0 至 walking/right_foot/position/desired/element_2: 元素0至2 (float64)
- 测量右脚位置
  - walking/right_foot/position/measured/element_0 至 walking/right_foot/position/measured/element_2: 元素0至2 (float64)
根链接数据
- 测量根链接角速度
  - walking/root_link/angular_velocity/measured/element_0 至 walking/root_link/angular_velocity/measured/element_2: 元素0至2 (float64)
- 测量根链接线性速度
  - walking/root_link/linear_velocity/measured/element_0 至 walking/root_link/linear_velocity/measured/element_2: 元素0至2 (float64)
- 测量根链接方向
  - walking/root_link/orientation/measured/element_0 至 walking/root_link/orientation/measured/element_2: 元素0至2 (float64)
- 测量根链接位置
  - walking/root_link/position/measured/element_0 至 walking/root_link/position/measured/element_2: 元素0至2 (float64)
站立脚数据
- walking/stance_foot/is_left/element_0: 是否左脚站立 (float64)
ZMP数据
- 期望ZMP
  - walking/zmp/desired/element_0 至 walking/zmp/desired/element_1: 元素0至1 (float64)
- 期望ZMP规划器
  - walking/zmp/desired_planner/element_0 至 walking/zmp/desired_planner/element_1: 元素0至1 (float64)
- 测量ZMP
  - walking/zmp/measured/element_0 至 walking/zmp/measured/element_1: 元素0至1 (float64)
力矩传感器数据
- FTs/l_arm_ft_sensor/f_x: 左臂力矩传感器x方向力 (float64)
- FTs/l_arm_ft_sensor/f_y: 左臂力矩传感器y方向力 (float64)
- FTs/l_arm_ft_sensor/f_z: 左臂力矩传感器z方向力 (float64)
- FTs/l_arm_ft_sensor/mu_x: 左臂力矩传感器x方向力矩 (float64)
- FTs/l_arm_ft_sensor/mu_y: 左臂力矩传感器y方向力矩 (float64)

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