- camera_main_rgb
- left_arm_joints
- left_hand_joints
- left_hand_joints_idx
- left_tactile_area_wrench
- left_tactile_data_wrench
- left_tactile_sensor_wrench
- left_tactile_type_wrench
- left_wrist_camera_rgb
- left_wrist_pose
- phaforce_action
- phaforce_left_robot_tau
- phaforce_left_robot_tau_ext
- phaforce_left_robot_tcp_vel
- phaforce_target
- sub_task_instruction
- timestamps
- 24 Bytes