| { |
| "arm_fields": [ |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "string", |
| "name": "arm_id", |
| "nullable": false, |
| "source": "armnet_cell", |
| "tier": 0, |
| "unit": "identifier" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "string", |
| "name": "object_id", |
| "nullable": true, |
| "source": "edge_connector", |
| "tier": 0, |
| "unit": "identifier" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "int64", |
| "name": "connection_generation", |
| "nullable": true, |
| "source": "edge_connector", |
| "tier": 0, |
| "unit": "generation" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "int64", |
| "name": "snapshot_sequence", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "sequence" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float64", |
| "name": "snapshot_monotonic_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "snapshot_age_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "snapshot_read_duration_s", |
| "nullable": true, |
| "source": "edge_sampler", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "tier_1_age_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "tier_2_age_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "tier_3_age_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "tier_4_age_s", |
| "nullable": true, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "s" |
| } |
| ], |
| "frame_fields": [ |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "int64", |
| "name": "episode_index", |
| "nullable": false, |
| "source": "lerobot_frame", |
| "tier": 0, |
| "unit": "index" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "int64", |
| "name": "frame_index", |
| "nullable": false, |
| "source": "lerobot_frame", |
| "tier": 0, |
| "unit": "index" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float64", |
| "name": "dataset_timestamp_s", |
| "nullable": false, |
| "source": "lerobot_frame", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float64", |
| "name": "record_monotonic_s", |
| "nullable": false, |
| "source": "recorder_clock", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "bool", |
| "name": "telemetry_valid", |
| "nullable": false, |
| "source": "recorder_validation", |
| "tier": 0, |
| "unit": "boolean" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "bool", |
| "name": "telemetry_stale", |
| "nullable": false, |
| "source": "recorder_validation", |
| "tier": 0, |
| "unit": "boolean" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "tier_0": 0, |
| "tier_1": 1, |
| "tier_2": 2, |
| "tier_3": 3, |
| "tier_4": 4 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "telemetry_tier_mask", |
| "nullable": false, |
| "source": "recording_config", |
| "tier": 0, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "tier_0": 0, |
| "tier_1": 1, |
| "tier_2": 2, |
| "tier_3": 3, |
| "tier_4": 4 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "telemetry_tier_valid_mask", |
| "nullable": false, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "tier_0": 0, |
| "tier_1": 1, |
| "tier_2": 2, |
| "tier_3": 3, |
| "tier_4": 4 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "telemetry_tier_fresh_mask", |
| "nullable": false, |
| "source": "recorder_validation", |
| "tier": 0, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "stable_integer_enum", |
| "parameters": { |
| "values": { |
| "bulk_read_failed": 2, |
| "cache_unavailable": 7, |
| "invalid_value": 5, |
| "named_read_failed": 4, |
| "none": 0, |
| "partial_read": 3, |
| "stale_snapshot": 6, |
| "unsupported": 1 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "telemetry_error_code", |
| "nullable": false, |
| "source": "edge_telemetry_cache", |
| "tier": 0, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "string", |
| "name": "action_source", |
| "nullable": false, |
| "source": "recording_runtime", |
| "tier": 0, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "loop_period_s", |
| "nullable": true, |
| "source": "recording_runtime", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "loop_overrun_s", |
| "nullable": true, |
| "source": "recording_runtime", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "action_to_write_latency_s", |
| "nullable": true, |
| "source": "recording_runtime", |
| "tier": 0, |
| "unit": "s" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "safety_delta_limit_normalized", |
| "nullable": true, |
| "source": "edge_safety_config", |
| "tier": 0, |
| "unit": "normalized_unit" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "string", |
| "name": "safety_outcome", |
| "nullable": true, |
| "source": "edge_safety_check", |
| "tier": 0, |
| "unit": "enum" |
| } |
| ], |
| "mask_assignments": { |
| "live_group_bits": { |
| "current": 7, |
| "load": 2, |
| "moving": 6, |
| "position": 0, |
| "status": 5, |
| "temperature": 4, |
| "velocity": 1, |
| "voltage": 3 |
| }, |
| "tier_bits": { |
| "tier_0": 0, |
| "tier_1": 1, |
| "tier_2": 2, |
| "tier_3": 3, |
| "tier_4": 4 |
| } |
| }, |
| "motor_fields": [ |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "leader_goal_normalized", |
| "nullable": true, |
| "source": "leader_action_pre_clip", |
| "tier": 0, |
| "unit": "normalized_unit" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "float32", |
| "name": "client_clipped_goal_normalized", |
| "nullable": true, |
| "source": "lerobot_client_clip", |
| "tier": 0, |
| "unit": "normalized_unit" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "current": 7, |
| "load": 2, |
| "moving": 6, |
| "position": 0, |
| "status": 5, |
| "temperature": 4, |
| "velocity": 1, |
| "voltage": 3 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "live_group_valid_mask", |
| "nullable": false, |
| "source": "edge_telemetry_cache", |
| "tier": 1, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "current": 7, |
| "load": 2, |
| "moving": 6, |
| "position": 0, |
| "status": 5, |
| "temperature": 4, |
| "velocity": 1, |
| "voltage": 3 |
| }, |
| "semantics": "valid bit set: 1=named, 0=bulk" |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "live_group_named_source_mask", |
| "nullable": false, |
| "source": "edge_telemetry_cache", |
| "tier": 1, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "stable_bit_mask", |
| "parameters": { |
| "bit_assignments": { |
| "current": 7, |
| "load": 2, |
| "moving": 6, |
| "position": 0, |
| "status": 5, |
| "temperature": 4, |
| "velocity": 1, |
| "voltage": 3 |
| } |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "live_group_fresh_mask", |
| "nullable": false, |
| "source": "recorder_validation", |
| "tier": 1, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "sts_sms_sign_magnitude_wire", |
| "parameters": { |
| "sign_bit": 15 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "present_position_wire_u16", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Position@56:2", |
| "tier": 1, |
| "unit": "wire_u16" |
| }, |
| { |
| "conversion": { |
| "name": "sts_sms_sign_magnitude_wire", |
| "parameters": { |
| "sign_bit": 15 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "present_velocity_wire_u16", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Velocity@58:2", |
| "tier": 1, |
| "unit": "wire_u16" |
| }, |
| { |
| "conversion": { |
| "name": "sts_sms_sign_magnitude_wire", |
| "parameters": { |
| "sign_bit": 10 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "present_load_wire_u16", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Load@60:2", |
| "tier": 2, |
| "unit": "wire_u16" |
| }, |
| { |
| "conversion": { |
| "name": "sts3215_voltage_raw", |
| "parameters": { |
| "volts_per_count": 0.1 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "present_voltage_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Voltage@62:1", |
| "tier": 3, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "sts3215_temperature_raw", |
| "parameters": { |
| "celsius_per_count": 1.0 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "present_temperature_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Temperature@63:1", |
| "tier": 3, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "generic_bitmask", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "status_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Status@65:1", |
| "tier": 3, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "nonzero_is_true", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "moving_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Moving@66:1", |
| "tier": 2, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "sts3215_current_wire_unvalidated", |
| "parameters": { |
| "direction_semantics": "unavailable_not_decoded", |
| "nominal_amperes_per_count": 0.0065 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "present_current_wire_u16", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Present_Current@69:2", |
| "tier": 1, |
| "unit": "wire_u16" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "firmware_major_version_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Firmware_Major_Version@0:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "firmware_minor_version_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Firmware_Minor_Version@1:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "model_number_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Model_Number@3:2", |
| "tier": 4, |
| "unit": "identifier" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "response_status_level_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Response_Status_Level@8:1", |
| "tier": 4, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "min_position_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Min_Position_Limit@9:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "max_position_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Max_Position_Limit@11:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "max_temperature_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Max_Temperature_Limit@13:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "max_voltage_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Max_Voltage_Limit@14:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "min_voltage_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Min_Voltage_Limit@15:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "max_torque_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Max_Torque_Limit@16:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "unloading_condition_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Unloading_Condition@19:1", |
| "tier": 4, |
| "unit": "bitmask" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "p_coefficient_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:P_Coefficient@21:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "d_coefficient_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:D_Coefficient@22:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "i_coefficient_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:I_Coefficient@23:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "minimum_startup_force_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Minimum_Startup_Force@24:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "protection_current_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Protection_Current@28:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "angular_resolution_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Angular_Resolution@30:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "sts_sms_sign_magnitude_wire", |
| "parameters": { |
| "sign_bit": 11 |
| }, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "homing_offset_wire_u16", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Homing_Offset@31:2", |
| "tier": 4, |
| "unit": "wire_u16" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "operating_mode_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Operating_Mode@33:1", |
| "tier": 4, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "protective_torque_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Protective_Torque@34:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "protection_time_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Protection_Time@35:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "overload_torque_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Overload_Torque@36:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "velocity_closed_loop_p_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Velocity_closed_loop_P_proportional_coefficient@37:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "over_current_protection_time_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Over_Current_Protection_Time@38:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "velocity_closed_loop_i_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Velocity_closed_loop_I_integral_coefficient@39:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "torque_enable_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Torque_Enable@40:1", |
| "tier": 4, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "acceleration_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Acceleration@41:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint16", |
| "name": "torque_limit_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Torque_Limit@48:2", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "lock_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Lock@55:1", |
| "tier": 4, |
| "unit": "enum" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "velocity_unit_factor_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Velocity_Unit_factor@82:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "maximum_acceleration_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Maximum_Acceleration@85:1", |
| "tier": 4, |
| "unit": "count" |
| }, |
| { |
| "conversion": { |
| "name": "identity", |
| "parameters": {}, |
| "version": "1.0.0" |
| }, |
| "dtype": "uint8", |
| "name": "acceleration_multiplier_raw", |
| "nullable": true, |
| "source": "lerobot-0.5.1:STS_SMS_SERIES_CONTROL_TABLE:Acceleration_Multiplier @86:1", |
| "tier": 4, |
| "unit": "count" |
| } |
| ], |
| "motor_layout": "bimanual", |
| "motor_order": [ |
| "left_shoulder_pan", |
| "left_shoulder_lift", |
| "left_elbow_flex", |
| "left_wrist_flex", |
| "left_wrist_roll", |
| "left_gripper", |
| "right_shoulder_pan", |
| "right_shoulder_lift", |
| "right_elbow_flex", |
| "right_wrist_flex", |
| "right_wrist_roll", |
| "right_gripper" |
| ], |
| "schema_name": "armnet.robot_telemetry", |
| "schema_version": "1.0.0" |
| } |
|
|
