> ## Documentation Index > Fetch the complete documentation index at: https://docs.nomadicml.com/llms.txt > Use this file to discover all available pages before exploring further. # Humanoid > A whole-body humanoid robot: arms, hands, legs, torso and head, with its cameras and body pose. A humanoid recording is `kind: "humanoid"` with one [part](/mcap-spec/body-and-parts#parts) per limb. Each part carries the data your robot logs: joint angles, a wrist pose, hand contact forces, ankle force-torque. This example is a humanoid with 7-DoF arms, 6-DoF hands with fingertip force sensors, 6-DoF legs with ankle force-torque sensors, a 3-DoF waist and a 2-DoF neck, recorded while it carries a mug to a sink. ## Channels | Channel | Message | Content | | - | - | - | | `/cam/head` | `foxglove.CompressedVideo` | head camera, the primary view | | `/cam/left_wrist`, `/cam/right_wrist` | `foxglove.CompressedVideo` | wrist cameras | | `/cam/external` | `foxglove.CompressedVideo` | a fixed camera in the room | | `/cam/*/calibration` | `foxglove.CameraCalibration` | intrinsics, one per camera | | `/body/pose` | `foxglove.PoseInFrame` | the pelvis pose in the `world` frame: the [body pose](/mcap-spec/frames-and-units#body-pose), not declared in the overlay | | `/left_arm/wrist_pose`, `/right_arm/wrist_pose` | `foxglove.PoseInFrame` | wrist poses in the `world` frame | | `/sig/*` | `nomadic.Signal` | joint angles, forces, IMU and robot state | ## Overlay ```json overlay.json theme={null} { "spec_version": "1.1", "recording": { "id": "humanoid-kitchen-000123", "clock": "log_time", "t0_ns": 1760000000000000000, "task": { "instruction": "Take the mug from the counter and place it in the sink.", "success_criteria": "The mug is upright in the sink." }, "segments": [ {"start_s": 0.0, "end_s": 6.5, "text": "Walk to the counter.", "label": "subtask", "skill": "walk"}, {"start_s": 6.5, "end_s": 11.0, "text": "Grasp the mug with the right hand.", "label": "subtask", "skill": "pick"}, {"start_s": 11.0, "end_s": 19.2, "text": "Carry the mug to the sink and release it.", "label": "subtask", "skill": "place"} ], "platform": { "kind": "humanoid", "embodiment": "acme_h1_rev3", "body_dimensions": {"length": 0.3, "width": 0.5, "height": 1.7}, "parts": [ {"name": "left_arm", "type": "arm", "side": "left", "joints": {"signal": "left_arm_joints", "names": ["left_shoulder_pitch", "left_shoulder_roll", "left_shoulder_yaw", "left_elbow", "left_wrist_roll", "left_wrist_pitch", "left_wrist_yaw"]}, "end_pose": {"channel": "/left_arm/wrist_pose"}}, {"name": "right_arm", "type": "arm", "side": "right", "joints": {"signal": "right_arm_joints", "names": ["right_shoulder_pitch", "right_shoulder_roll", "right_shoulder_yaw", "right_elbow", "right_wrist_roll", "right_wrist_pitch", "right_wrist_yaw"]}, "end_pose": {"channel": "/right_arm/wrist_pose"}}, {"name": "left_hand", "type": "hand", "side": "left", "joints": {"signal": "left_hand_joints", "names": ["left_thumb_yaw", "left_thumb_pitch", "left_index", "left_middle", "left_ring", "left_little"]}, "force": {"signal": "left_hand_force"}}, {"name": "right_hand", "type": "hand", "side": "right", "joints": {"signal": "right_hand_joints", "names": ["right_thumb_yaw", "right_thumb_pitch", "right_index", "right_middle", "right_ring", "right_little"]}, "force": {"signal": "right_hand_force"}}, {"name": "left_leg", "type": "leg", "side": "left", "joints": {"signal": "left_leg_joints", "names": ["left_hip_pitch", "left_hip_roll", "left_hip_yaw", "left_knee", "left_ankle_pitch", "left_ankle_roll"]}, "force": {"signal": "left_ankle_wrench"}}, {"name": "right_leg", "type": "leg", "side": "right", "joints": {"signal": "right_leg_joints", "names": ["right_hip_pitch", "right_hip_roll", "right_hip_yaw", "right_knee", "right_ankle_pitch", "right_ankle_roll"]}, "force": {"signal": "right_ankle_wrench"}}, {"name": "torso", "type": "torso", "joints": {"signal": "waist_joints", "names": ["waist_yaw", "waist_roll", "waist_pitch"]}}, {"name": "head", "type": "head", "joints": {"signal": "neck_joints", "names": ["neck_yaw", "neck_pitch"]}} ] } }, "primary_view": "/cam/head", "views": [ {"channel": "/cam/head", "role": "ego", "label": "Head"}, {"channel": "/cam/left_wrist", "role": "wrist_left", "label": "Left wrist"}, {"channel": "/cam/right_wrist", "role": "wrist_right", "label": "Right wrist"}, {"channel": "/cam/external", "role": "external_1", "label": "Room"} ], "signals": [ {"channel": "/sig/left_arm_joints", "name": "left_arm_joints", "type": "vector", "dim": 7, "unit": "rad", "rate_hz": 200, "components": ["left_shoulder_pitch", "left_shoulder_roll", "left_shoulder_yaw", "left_elbow", "left_wrist_roll", "left_wrist_pitch", "left_wrist_yaw"]}, {"channel": "/sig/right_arm_joints", "name": "right_arm_joints", "type": "vector", "dim": 7, "unit": "rad", "rate_hz": 200, "components": ["right_shoulder_pitch", "right_shoulder_roll", "right_shoulder_yaw", "right_elbow", "right_wrist_roll", "right_wrist_pitch", "right_wrist_yaw"]}, {"channel": "/sig/left_hand_joints", "name": "left_hand_joints", "type": "vector", "dim": 6, "unit": "rad", "rate_hz": 100, "components": ["left_thumb_yaw", "left_thumb_pitch", "left_index", "left_middle", "left_ring", "left_little"]}, {"channel": "/sig/right_hand_joints", "name": "right_hand_joints", "type": "vector", "dim": 6, "unit": "rad", "rate_hz": 100, "components": ["right_thumb_yaw", "right_thumb_pitch", "right_index", "right_middle", "right_ring", "right_little"]}, {"channel": "/sig/left_hand_force", "name": "left_hand_force", "type": "vector", "dim": 5, "unit": "N", "rate_hz": 100, "components": ["thumb", "index", "middle", "ring", "little"], "note": "fingertip normal force"}, {"channel": "/sig/right_hand_force", "name": "right_hand_force", "type": "vector", "dim": 5, "unit": "N", "rate_hz": 100, "components": ["thumb", "index", "middle", "ring", "little"], "note": "fingertip normal force"}, {"channel": "/sig/left_leg_joints", "name": "left_leg_joints", "type": "vector", "dim": 6, "unit": "rad", "rate_hz": 500, "components": ["left_hip_pitch", "left_hip_roll", "left_hip_yaw", "left_knee", "left_ankle_pitch", "left_ankle_roll"]}, {"channel": "/sig/right_leg_joints", "name": "right_leg_joints", "type": "vector", "dim": 6, "unit": "rad", "rate_hz": 500, "components": ["right_hip_pitch", "right_hip_roll", "right_hip_yaw", "right_knee", "right_ankle_pitch", "right_ankle_roll"]}, {"channel": "/sig/left_ankle_wrench", "name": "left_ankle_wrench", "type": "vector", "dim": 6, "rate_hz": 500, "components": ["fx", "fy", "fz", "tx", "ty", "tz"], "note": "ankle force-torque sensor, N and N*m, sensor frame"}, {"channel": "/sig/right_ankle_wrench", "name": "right_ankle_wrench", "type": "vector", "dim": 6, "rate_hz": 500, "components": ["fx", "fy", "fz", "tx", "ty", "tz"], "note": "ankle force-torque sensor, N and N*m, sensor frame"}, {"channel": "/sig/waist_joints", "name": "waist_joints", "type": "vector", "dim": 3, "unit": "rad", "rate_hz": 500, "components": ["waist_yaw", "waist_roll", "waist_pitch"]}, {"channel": "/sig/neck_joints", "name": "neck_joints", "type": "vector", "dim": 2, "unit": "rad", "rate_hz": 100, "components": ["neck_yaw", "neck_pitch"]}, {"channel": "/sig/pelvis_gyro", "name": "pelvis_gyro", "type": "vector", "dim": 3, "unit": "rad/s", "rate_hz": 500, "components": ["x", "y", "z"]}, {"channel": "/sig/pelvis_accel", "name": "pelvis_accel", "type": "vector", "dim": 3, "unit": "m/s^2", "rate_hz": 500, "components": ["x", "y", "z"]}, {"channel": "/sig/locomotion_mode", "name": "locomotion_mode", "type": "enum", "values": ["stand", "walk", "manipulate"], "note": "controller mode"}, {"channel": "/sig/battery", "name": "battery", "type": "float", "unit": "1", "rate_hz": 1, "note": "state of charge, 0 = empty, 1 = full"} ], "source": {"converter": "acme-to-nomadic 1.2"} } ``` ## Notes **Body pose.** The pelvis pose goes on its own `foxglove.PoseInFrame` channel (`/body/pose`) in a static, z-up `world` frame, and is not declared in the overlay. The wrist poses use the same `world` frame. If your robot logs poses in its pelvis frame, transform them to the world frame in your converter, using the pelvis pose. **Hands on arms.** The hands here have no `end_pose` of their own: a hand is paired with the arm of the same side (`left_hand` with `left_arm`), whose `end_pose` is the wrist. Give a hand its own `end_pose` only when it is not rigidly attached to that wrist pose. **Joint vectors.** One `vector` signal per part, with `names` in exactly the vector's order. Prefer measured joint positions; publish commanded positions, velocities and motor torques as further signals under any name. **Forces.** The hands use the contact-force form (unit `N`, one value per fingertip). The ankles use the single-wrench form (`dim` 6, components `fx … tz`): it carries newtons and newton-metres together, so the unit is stated in `note` rather than `unit`. Tactile hands with a full wrench per fingertip use the [per-contact wrench form](/mcap-spec/body-and-parts#force). ## Variations | Your robot | Change | | - | - | | Parallel grippers instead of hands | drop the `hand` parts; add a `grip` signal (unit `"1"`, 0 = closed … 1 = open) to each `arm` | | Wheeled base, no legs | drop the `leg` parts; keep the body pose | | A whole-body skeleton from motion capture or a state estimator | add a `body` part with `keypoints`: one `nomadic.Skeleton` channel carrying every tracked joint | | No joint encoders on the hands, only hand tracking | replace each hand's `joints` with `keypoints` (see [Egocentric](/mcap-spec/examples/egocentric)) | | A `foot` pose from your state estimator | add it as the leg's `end_pose`. Preflight reminds you that a part's pose is never the body pose; that is expected. | This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.