How can I get concrete definitions for the results from `physics.named.data`

Inizia da quadruped.py e dall’output di self.named.data.sensordata mostrato nell’issue. Segui le definizioni dei sensori per determinare l’asse e il significato fisico di ogni valore raggruppato, incluse le voci imu_accel, imu_gyro, force, torque e center_of_mass. Il lavoro è completato quando vengono documentati significati concreti per gli indici segnalati, in modo che gli utenti possano interpretare ogni risultato.

Take the "quadruped" domain as an example. It is known that we can get rough understandings from the quadruped.py that self.named.data.sensordata contains sensor readings as follows:

self.named.data.sensordata
Out[33]: 
FieldIndexer(sensordata):
 0              imu_accel [ 7.2     ]
 1              imu_accel [-2.65    ]
 2              imu_accel [ 22.7    ]
 3               imu_gyro [ 0.448   ]
 4               imu_gyro [ 0.411   ]
 5               imu_gyro [-0.751   ]
 6            velocimeter [-0.206   ]
 7            velocimeter [-0.0947  ]
 8            velocimeter [-0.249   ]
 9   force_toe_front_left [-62.4    ]
10   force_toe_front_left [ 30.4    ]
11   force_toe_front_left [-1.41    ]
12  force_toe_front_right [ 85.1    ]
13  force_toe_front_right [ 20.3    ]
14  force_toe_front_right [-101     ]
15   force_toe_back_right [ 1.19e+03]
16   force_toe_back_right [-291     ]
17   force_toe_back_right [-725     ]
18    force_toe_back_left [ 256     ]
19    force_toe_back_left [-23.1    ]
20    force_toe_back_left [-936     ]
21  torque_toe_front_left [ 0.232   ]
22  torque_toe_front_left [ 0.757   ]
23  torque_toe_front_left [-0.187   ]
24 torque_toe_front_right [-0.256   ]
25 torque_toe_front_right [-1.01    ]
26 torque_toe_front_right [ 0.139   ]
27  torque_toe_back_right [ 2.94    ]
28  torque_toe_back_right [-19.2    ]
29  torque_toe_back_right [ 13      ]
30   torque_toe_back_left [-28.8    ]
31   torque_toe_back_left [ 36.2    ]
32   torque_toe_back_left [-9.05    ]
33         center_of_mass [-0.00071 ]
34         center_of_mass [-0.0362  ]
35         center_of_mass [ 0.82    ]

Although these names provide basic information, I still don't know the concrete meanings for each item. For example, it is hard to infer which imu_accel is for x-axis.