Summary
sensor_data["torques"] is still in the motor frame, while positions and velocities are in the joint frame.
Nothing reads it today.
Either convert it (joint torque = motor torque × direction) or rename it to motor_torques or drop it.
This could be a hazard if users believe all sensor data is converted to joint frame.
Reproduction details
No response
Environment
- Studio or Runtime version/commit:
- OS:
- Python:
- Robot/camera:
- Hardware accelerator:
- Policy/export backend:
Logs or traceback
Links, screenshots, or other context
No response
Summary
sensor_data["torques"] is still in the motor frame, while positions and velocities are in the joint frame.
Nothing reads it today.
Either convert it (joint torque = motor torque × direction) or rename it to motor_torques or drop it.
This could be a hazard if users believe all sensor data is converted to joint frame.
Reproduction details
No response
Environment
Logs or traceback
Links, screenshots, or other context
No response