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    {
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      "tier": 4,
      "unit": "count"
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    {
      "conversion": {
        "name": "sts_sms_sign_magnitude_wire",
        "parameters": {
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        "version": "1.0.0"
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      "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"
}