diff --git a/robohive/envs/arms/fetch/assets/fetch_reach_v0.config b/robohive/envs/arms/fetch/assets/fetch_reach_v0.config
index d0ac1c0a..b35c8ae3 100644
--- a/robohive/envs/arms/fetch/assets/fetch_reach_v0.config
+++ b/robohive/envs/arms/fetch/assets/fetch_reach_v0.config
@@ -3,27 +3,27 @@
     'franka':{
         'interface': {'type': 'fetch'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan_jp'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift_jp'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll_jp'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'elbow_flex_jp'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'forearm_roll_jp'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_flex_jp'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_roll_jp'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_jp'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_jp'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan_jp'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift_jp'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll_jp'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'elbow_flex_jp'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'forearm_roll_jp'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_flex_jp'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_roll_jp'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_jp'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_jp'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'elbow_flex'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'forearm_roll'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_flex'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'wrist_roll'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_pan'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'shoulder_lift'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'upperarm_roll'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'elbow_flex'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'forearm_roll'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_flex'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'wrist_roll'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger'},
         ]
     }
 }
\ No newline at end of file
diff --git a/robohive/envs/arms/franka/assets/franka_busbin_v0.config b/robohive/envs/arms/franka/assets/franka_busbin_v0.config
index 859dad30..2904463b 100644
--- a/robohive/envs/arms/franka/assets/franka_busbin_v0.config
+++ b/robohive/envs/arms/franka/assets/franka_busbin_v0.config
@@ -3,39 +3,39 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
 
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
         ]
     },
     # 'busbin':{
     #     'interface': {},
     #     'sensor':[
-    #         {'range':(-2.0, 0.0), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'???'},
+    #         {'range':(-2.0, 0.0), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'???'},
     #     ],
     #     'actuator':[]
     # }
diff --git a/robohive/envs/arms/franka/assets/franka_reach_v0.config b/robohive/envs/arms/franka/assets/franka_reach_v0.config
index e61944bb..04f0819b 100644
--- a/robohive/envs/arms/franka/assets/franka_reach_v0.config
+++ b/robohive/envs/arms/franka/assets/franka_reach_v0.config
@@ -3,37 +3,37 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale':0.5},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
-            # {'range':(0.00, .04), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
-            # {'range':(0.00, .04), 'noise':0.05, 'hdr_id':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            # {'range':(0.00, .04), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
+            # {'range':(0.00, .04), 'noise':0.05, 'adr':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
 
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
-            # {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
-            # {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            # {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
+            # {'pos_range':(-0.0000, 0.0400), 'vel_range':(-1.0*np.pi/2, 1.0*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
         ]
     },
 
@@ -41,8 +41,8 @@
         'interface': {'type': 'realsense', 'topic':'realsense_815412070228/color/image_raw', 'data_type':'rgb240x320'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
-            # {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            # {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
         ],
         'actuator':[]
     },
@@ -51,8 +51,8 @@
         'interface': {'type': 'realsense', 'topic':'realsense_815412070341/color/image_raw', 'data_type':'rgb'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
-            # {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            # {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
         ],
         'actuator':[]
     },
@@ -61,8 +61,8 @@
         'interface': {'type': 'realsense', 'topic':'realsense_936322070233/color/image_raw', 'data_type':'rgb'},
         'sensor':[],
         'cams': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
-            # {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            # {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_mono/image_raw'},
         ],
         'actuator':[]
     },
diff --git a/robohive/envs/arms/franka/assets/franka_ycb_v0.config b/robohive/envs/arms/franka/assets/franka_ycb_v0.config
index 54b23efe..81b49b42 100644
--- a/robohive/envs/arms/franka/assets/franka_ycb_v0.config
+++ b/robohive/envs/arms/franka/assets/franka_ycb_v0.config
@@ -3,48 +3,48 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':8, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
 
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
         ]
     },
     'object':{
         'interface':{},
         'sensor':[
-            {'range':(-1.0, 1.0), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Tx'},
-            {'range':(-0.5, 0.5), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Ty'},
-            {'range':(-1.0, 1.0), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Tz'},
-            {'range':(-3.1, 3.1), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Rx'},
-            {'range':(-3.1, 3.1), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Ry'},
-            {'range':(-3.1, 3.1), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'Rz'},
+            {'range':(-1.0, 1.0), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Tx'},
+            {'range':(-0.5, 0.5), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Ty'},
+            {'range':(-1.0, 1.0), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Tz'},
+            {'range':(-3.1, 3.1), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Rx'},
+            {'range':(-3.1, 3.1), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Ry'},
+            {'range':(-3.1, 3.1), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'Rz'},
         ],
         'actuator':[]
     }
diff --git a/robohive/envs/fm/assets/dmanus.config b/robohive/envs/fm/assets/dmanus.config
index 938e47d0..a0bf3062 100644
--- a/robohive/envs/fm/assets/dmanus.config
+++ b/robohive/envs/fm/assets/dmanus.config
@@ -3,27 +3,27 @@
     'dmanus':{
         'interface': {'type': 'dynamixel', 'motor_type':"X", 'name':"/dev/ttyUSB0"},
         'sensor':[
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':10, 'name':'TFJ1', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':11, 'name':'TFJ2', 'scale':-1, 'offset':3*np.pi/2 },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':12, 'name':'TFJ3', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':20, 'name':'IFJ1', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':21, 'name':'IFJ2', 'scale':-1, 'offset':3*np.pi/2 },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':22, 'name':'IFJ3', 'scale':+1, 'offset':-np.pi },
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':30, 'name':'LFJ1', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':31, 'name':'LFJ2', 'scale':+1, 'offset':-np.pi/2 },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':32, 'name':'LFJ3', 'scale':+1, 'offset':-np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':10, 'name':'TFJ1', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':11, 'name':'TFJ2', 'scale':-1, 'offset':3*np.pi/2 },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':12, 'name':'TFJ3', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':20, 'name':'IFJ1', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':21, 'name':'IFJ2', 'scale':-1, 'offset':3*np.pi/2 },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':22, 'name':'IFJ3', 'scale':+1, 'offset':-np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':30, 'name':'LFJ1', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':31, 'name':'LFJ2', 'scale':+1, 'offset':-np.pi/2 },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':32, 'name':'LFJ3', 'scale':+1, 'offset':-np.pi },
 
         ],
         'actuator':[
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'name':'TFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'name':'TFA2', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'name':'TFA3', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'name':'IFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'name':'IFA2', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'name':'IFA3', 'mode':'Position', 'scale':+1, 'offset':np.pi },
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'name':'LFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'name':'LFA2', 'mode':'Position', 'scale':+1, 'offset':np.pi/2 },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'name':'LFA3', 'mode':'Position', 'scale':+1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'name':'TFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'name':'TFA2', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'name':'TFA3', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'name':'IFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'name':'IFA2', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'name':'IFA3', 'mode':'Position', 'scale':+1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'name':'LFA1', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'name':'LFA2', 'mode':'Position', 'scale':+1, 'offset':np.pi/2 },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'name':'LFA3', 'mode':'Position', 'scale':+1, 'offset':np.pi },
         ]
     }
 }
\ No newline at end of file
diff --git a/robohive/envs/fm/assets/franka_dmanus.config b/robohive/envs/fm/assets/franka_dmanus.config
index e43a868f..2384ee5b 100644
--- a/robohive/envs/fm/assets/franka_dmanus.config
+++ b/robohive/envs/fm/assets/franka_dmanus.config
@@ -5,23 +5,23 @@
         'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale':0.2},
         # 'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
         ]
     },
 
@@ -29,29 +29,29 @@
     'dmanus':{
         'interface': {'type': 'dynamixel', 'motor_type':"X", 'name':"/dev/ttyUSB0"},
         'sensor':[
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':10, 'name':'TF_ADB_jp', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':11, 'name':'TF_MCP_jp', 'scale':-1, 'offset':3*np.pi/2 },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':12, 'name':'TF_PIP_jp', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':13, 'name':'TF_DIP_jp', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':10, 'name':'TF_ADB_jp', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':11, 'name':'TF_MCP_jp', 'scale':-1, 'offset':3*np.pi/2 },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':12, 'name':'TF_PIP_jp', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':13, 'name':'TF_DIP_jp', 'scale':-1, 'offset':np.pi },
 
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':20, 'name':'FF_ADB_jp', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':21, 'name':'FF_MCP_jp', 'scale':-1, 'offset':3*np.pi/2 },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':22, 'name':'FF_PIP_jp', 'scale':+1, 'offset':-np.pi },
-            {'range':(-0.75, 0.57), 'noise':0.05, 'hdr_id':30, 'name':'PF_ADB_jp', 'scale':-1, 'offset':np.pi },
-            {'range':(-0.00, 2.14), 'noise':0.05, 'hdr_id':31, 'name':'PF_MCP_jp', 'scale':+1, 'offset':-np.pi/2 },
-            {'range':(-0.00, 2.00), 'noise':0.05, 'hdr_id':32, 'name':'PF_PIP_jp', 'scale':+1, 'offset':-np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':20, 'name':'FF_ADB_jp', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':21, 'name':'FF_MCP_jp', 'scale':-1, 'offset':3*np.pi/2 },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':22, 'name':'FF_PIP_jp', 'scale':+1, 'offset':-np.pi },
+            {'range':(-0.75, 0.57), 'noise':0.05, 'adr':30, 'name':'PF_ADB_jp', 'scale':-1, 'offset':np.pi },
+            {'range':(-0.00, 2.14), 'noise':0.05, 'adr':31, 'name':'PF_MCP_jp', 'scale':+1, 'offset':-np.pi/2 },
+            {'range':(-0.00, 2.00), 'noise':0.05, 'adr':32, 'name':'PF_PIP_jp', 'scale':+1, 'offset':-np.pi },
         ],
         'actuator':[
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'name':'TF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'name':'TF_MCP', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'name':'TF_PIP', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':13, 'name':'TF_DIP', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'name':'FF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'name':'FF_MCP', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'name':'FF_PIP', 'mode':'Position', 'scale':+1, 'offset':np.pi },
-            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'name':'PF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
-            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'name':'PF_MCP', 'mode':'Position', 'scale':+1, 'offset':np.pi/2 },
-            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'name':'PF_PIP', 'mode':'Position', 'scale':+1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'name':'TF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'name':'TF_MCP', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'name':'TF_PIP', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':13, 'name':'TF_DIP', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'name':'FF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'name':'FF_MCP', 'mode':'Position', 'scale':-1, 'offset':3*np.pi/2 },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'name':'FF_PIP', 'mode':'Position', 'scale':+1, 'offset':np.pi },
+            {'pos_range':(-0.75, 0.57), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'name':'PF_ADB', 'mode':'Position', 'scale':-1, 'offset':np.pi },
+            {'pos_range':(-0.00, 2.14), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'name':'PF_MCP', 'mode':'Position', 'scale':+1, 'offset':np.pi/2 },
+            {'pos_range':(-0.00, 2.00), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'name':'PF_PIP', 'mode':'Position', 'scale':+1, 'offset':np.pi },
         ]
     }
 }
\ No newline at end of file
diff --git a/robohive/envs/fm/assets/franka_robotiq.config b/robohive/envs/fm/assets/franka_robotiq.config
index c2dcc441..7ed26bb2 100644
--- a/robohive/envs/fm/assets/franka_robotiq.config
+++ b/robohive/envs/fm/assets/franka_robotiq.config
@@ -4,23 +4,23 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale':0.5},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
         ]
     },
 
@@ -28,10 +28,10 @@
     'robotiq':{
         'interface': {'type': 'robotiq', 'ip_address':'172.16.0.1'},
         'sensor':[
-            {'range':(0, 0.834), 'noise':0.0, 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
+            {'range':(0, 0.834), 'noise':0.0, 'adr':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
         ],
         'actuator':[
-            {'pos_range':(0, 1), 'vel_range':(-20*np.pi/4, 20*np.pi/4), 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-0.085, 'offset':0.085},
+            {'pos_range':(0, 1), 'vel_range':(-20*np.pi/4, 20*np.pi/4), 'adr':0, 'name':'robotiq_2f_85', 'scale':-0.085, 'offset':0.085},
         ]
     },
 
@@ -39,8 +39,8 @@
         'interface': {'type': 'realsense', 'rgb_topic':'realsense_815412070228/color/image_raw', 'd_topic':'realsense_815412070228/depth_uncolored/image_raw'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_uncolored/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_uncolored/image_raw'},
         ],
         'actuator':[]
     },
@@ -49,7 +49,7 @@
         'interface': {'type': 'realsense', 'rgb_topic':'realsense_815412070341/color/image_raw', 'd_topic':'realsense_815412070341/depth_uncolored/image_raw'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
         ],
         'actuator':[]
     },
@@ -58,7 +58,7 @@
         'interface': {'type': 'realsense', 'rgb_topic':'realsense_936322070233/color/image_raw', 'd_topic':'realsense_936322070233/depth_uncolored/image_raw'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
         ],
         'actuator':[]
     },
@@ -67,7 +67,7 @@
         'interface': {'type': 'realsense', 'rgb_topic':'realsense_814412070228/color/image_raw', 'd_topic':'realsense_814412070228/depth_uncolored/image_raw'},
         'sensor':[],
         'cam': [
-            {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+            {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
         ],
         'actuator':[]
     },
diff --git a/robohive/envs/multi_task/common/kitchen/franka_kitchen.config b/robohive/envs/multi_task/common/kitchen/franka_kitchen.config
index bb1816a2..1fa983b7 100644
--- a/robohive/envs/multi_task/common/kitchen/franka_kitchen.config
+++ b/robohive/envs/multi_task/common/kitchen/franka_kitchen.config
@@ -3,38 +3,38 @@
     'franka':{
         'interface': {'type': 'franka'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jp7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
 
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            # {'range':(-2*np.pi, np.pi), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
             # TODO: ranges here exceed the corresponding sensor ranges
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'panda0_joint7'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
-            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'panda0_joint7'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'r_gripper_finger_joint'},
+            {'pos_range':(-0.0000, 0.0400), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':-1, 'scale':1, 'offset':0, 'name':'l_gripper_finger_joint'},
         ]
     },
 
@@ -42,22 +42,22 @@
     'kitchen':{
         'interface': {'type': 'tbd'},
         'sensor':[
-            {'range':(-1.57, 00), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'knob1_joint'},
-            {'range':(-1.57, 00), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'knob2_joint'},
-            {'range':(-1.57, 00), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'knob3_joint'},
-            {'range':(-1.57, 00), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'knob4_joint'},
-            {'range':(-0.7, 0.0), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'lightswitch_joint'},
-            {'range':(0.0, 1.57), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'slidedoor_joint'},
-            {'range':(-1.57, .0), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'leftdoorhinge'},
-            {'range':(0.0, 1.57), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'rightdoorhinge'},
-            {'range':(-2.09, 00), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'micro0joint'},
+            {'range':(-1.57, 00), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'knob1_joint'},
+            {'range':(-1.57, 00), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'knob2_joint'},
+            {'range':(-1.57, 00), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'knob3_joint'},
+            {'range':(-1.57, 00), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'knob4_joint'},
+            {'range':(-0.7, 0.0), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'lightswitch_joint'},
+            {'range':(0.0, 1.57), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'slidedoor_joint'},
+            {'range':(-1.57, .0), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'leftdoorhinge'},
+            {'range':(0.0, 1.57), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'rightdoorhinge'},
+            {'range':(-2.09, 00), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'micro0joint'},
 
-            {'range':(-1.25, 1.75), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Tx'},
-            {'range':(-1.50, 1.50), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Ty'},
-            {'range':(-0.10, 2.90), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Tz'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Rx'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Ry'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'kettle0:Rz'},
+            {'range':(-1.25, 1.75), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Tx'},
+            {'range':(-1.50, 1.50), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Ty'},
+            {'range':(-0.10, 2.90), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Tz'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Rx'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Ry'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'kettle0:Rz'},
         ],
 
         'actuator':[]
diff --git a/robohive/envs/multi_task/common/microwave/franka_microwave.config b/robohive/envs/multi_task/common/microwave/franka_microwave.config
index 15aeedb8..0d58447b 100644
--- a/robohive/envs/multi_task/common/microwave/franka_microwave.config
+++ b/robohive/envs/multi_task/common/microwave/franka_microwave.config
@@ -3,39 +3,39 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
 
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
         ]
     },
     'microwave':{
         'interface': {},
         'sensor':[
-            {'range':(-2.0, 0.0), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'micro0joint'},
+            {'range':(-2.0, 0.0), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'micro0joint'},
         ],
         'actuator':[]
     }
diff --git a/robohive/envs/multi_task/common/slidecabinet/franka_slidecabinet.config b/robohive/envs/multi_task/common/slidecabinet/franka_slidecabinet.config
index a2869a27..d7023e1f 100644
--- a/robohive/envs/multi_task/common/slidecabinet/franka_slidecabinet.config
+++ b/robohive/envs/multi_task/common/slidecabinet/franka_slidecabinet.config
@@ -3,41 +3,41 @@
     'franka':{
         'interface': {'type': 'franka', 'ip_address':'169.254.163.91'},
         'sensor':[
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-            {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
-            {'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
-            {'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+            {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
+            {'range':(-3.1, 0.0), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
+            {'range':(-1.7, 3.8), 'noise':0.05, 'adr':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jp2'},
 
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
-            {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
-            {'range':(0.00, .04), 'noise':0.05, 'hdr_id':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv1'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv2'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv3'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv4'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv5'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv6'},
+            {'range':(-2.9, 2.9), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'fr_arm_jv7'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv1'},
+            {'range':(0.00, .04), 'noise':0.05, 'adr':-1, 'scale':1, 'offset':0, 'name':'fr_fin_jv2'},
         ],
 
         'actuator':[
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
-            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
-            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
-            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+            {'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
+            {'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
+            {'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
+            {'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'adr':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
         ]
     },
     'slidecabinet':{
         'interface': {},
         'sensor':[
-            {'range':(-0.0, .44), 'noise':0.05, 'hdr_id':7, 'scale':1, 'offset':0, 'name':'slidedoor_joint'},
+            {'range':(-0.0, .44), 'noise':0.05, 'adr':7, 'scale':1, 'offset':0, 'name':'slidedoor_joint'},
         ],
         'actuator':[]
     }
diff --git a/robohive/envs/quadrupeds/dkitty/dkitty_stand_v0.config b/robohive/envs/quadrupeds/dkitty/dkitty_stand_v0.config
index 7e1c3b58..8dae22fd 100644
--- a/robohive/envs/quadrupeds/dkitty/dkitty_stand_v0.config
+++ b/robohive/envs/quadrupeds/dkitty/dkitty_stand_v0.config
@@ -3,12 +3,12 @@
     'dkitty_root':{
         'interface': {'type': 'optitrack', 'server_name': '169.254.163.86', 'client_name': '169.254.163.96','port':5000, 'packet_size':36, 'id':'1'},
         'sensor':[
-            {'range':(-5.00, 5.00), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'A:Tx'},
-            {'range':(-5.00, 5.00), 'noise':0.005, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'A:Ty'},
-            {'range':(-2.00, 2.00), 'noise':0.005, 'hdr_id':2, 'scale':1, 'offset':-.32, 'name':'A:Tz'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'A:Rx'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'A:Ry'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':0, 'name':'A:Rz'},
+            {'range':(-5.00, 5.00), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'A:Tx'},
+            {'range':(-5.00, 5.00), 'noise':0.005, 'adr':1, 'scale':1, 'offset':0, 'name':'A:Ty'},
+            {'range':(-2.00, 2.00), 'noise':0.005, 'adr':2, 'scale':1, 'offset':-.32, 'name':'A:Tz'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'A:Rx'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'A:Ry'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':5, 'scale':1, 'offset':0, 'name':'A:Rz'},
         ],
         'actuator':[]
     },
@@ -17,47 +17,47 @@
     'dkitty':{
         'interface': {'type': 'dynamixel', 'motor_type':"X", 'name':"/dev/DKitty"},
         'sensor':[
-            {'range':(-3.419,  0.279), 'noise':0.05, 'hdr_id':10, 'scale':+1, 'offset':-3*np.pi/2, 'name':'A:FRJ10_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':11, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ11_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':12, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ12_pos_sensor'},
-            {'range':(-0.279,  3.419), 'noise':0.05, 'hdr_id':20, 'scale':+1, 'offset':-np.pi/2, 'name':'A:FLJ20_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':21, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ21_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':22, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ22_pos_sensor'},
-            {'range':(-0.279,  3.419), 'noise':0.05, 'hdr_id':30, 'scale':-1, 'offset':3*np.pi/2, 'name':'A:BLJ30_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':31, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ31_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':32, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ32_pos_sensor'},
-            {'range':(-3.419,  0.279), 'noise':0.05, 'hdr_id':40, 'scale':-1, 'offset':np.pi/2, 'name':'A:BRJ40_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':41, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ41_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':42, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ42_pos_sensor'}
+            {'range':(-3.419,  0.279), 'noise':0.05, 'adr':10, 'scale':+1, 'offset':-3*np.pi/2, 'name':'A:FRJ10_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':11, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ11_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':12, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ12_pos_sensor'},
+            {'range':(-0.279,  3.419), 'noise':0.05, 'adr':20, 'scale':+1, 'offset':-np.pi/2, 'name':'A:FLJ20_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':21, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ21_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':22, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ22_pos_sensor'},
+            {'range':(-0.279,  3.419), 'noise':0.05, 'adr':30, 'scale':-1, 'offset':3*np.pi/2, 'name':'A:BLJ30_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':31, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ31_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':32, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ32_pos_sensor'},
+            {'range':(-3.419,  0.279), 'noise':0.05, 'adr':40, 'scale':-1, 'offset':np.pi/2, 'name':'A:BRJ40_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':41, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ41_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':42, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ42_pos_sensor'}
         ],
         'actuator':[
-            {'pos_range':(-1.57 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
-            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
-            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
-            {'pos_range':(-0.279,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
-            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
-            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
-            {'pos_range':(-0.279,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
-            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
-            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
-            {'pos_range':(-1.57 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
-            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
-            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
+            {'pos_range':(-1.57 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
+            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
+            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
+            {'pos_range':(-0.279,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
+            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
+            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
+            {'pos_range':(-0.279,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
+            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
+            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
+            {'pos_range':(-1.57 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
+            {'pos_range':(-2.14 ,  2.14 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
+            {'pos_range':(-1.57 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
         ]
 
         # 'actuator':[ # restricted shoulder
-        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
-        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
-        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
-        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
+        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
+        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
+        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
+        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
         # ]
     }
 }
\ No newline at end of file
diff --git a/robohive/envs/quadrupeds/dkitty/dkitty_walk_v0.config b/robohive/envs/quadrupeds/dkitty/dkitty_walk_v0.config
index 33dfe430..3dad488f 100644
--- a/robohive/envs/quadrupeds/dkitty/dkitty_walk_v0.config
+++ b/robohive/envs/quadrupeds/dkitty/dkitty_walk_v0.config
@@ -3,12 +3,12 @@
     'dkitty_root':{
         'interface': {'type': 'optitrack', 'server_name': '169.254.163.86', 'client_name': '169.254.163.96','port':5000, 'packet_size':36, 'id':'1'},
         'sensor':[
-            {'range':(-5.00, 5.00), 'noise':0.005, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'A:Tx'},
-            {'range':(-5.00, 5.00), 'noise':0.005, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'A:Ty'},
-            {'range':(-2.00, 2.00), 'noise':0.005, 'hdr_id':2, 'scale':1, 'offset':-.32, 'name':'A:Tz'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'A:Rx'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'A:Ry'},
-            {'range':(-3.14, 3.14), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':0, 'name':'A:Rz'},
+            {'range':(-5.00, 5.00), 'noise':0.005, 'adr':0, 'scale':1, 'offset':0, 'name':'A:Tx'},
+            {'range':(-5.00, 5.00), 'noise':0.005, 'adr':1, 'scale':1, 'offset':0, 'name':'A:Ty'},
+            {'range':(-2.00, 2.00), 'noise':0.005, 'adr':2, 'scale':1, 'offset':-.32, 'name':'A:Tz'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':3, 'scale':1, 'offset':0, 'name':'A:Rx'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':4, 'scale':1, 'offset':0, 'name':'A:Ry'},
+            {'range':(-3.14, 3.14), 'noise':0.05, 'adr':5, 'scale':1, 'offset':0, 'name':'A:Rz'},
         ],
         'actuator':[]
     },
@@ -17,47 +17,47 @@
     'dkitty':{
         'interface': {'type': 'dynamixel', 'motor_type':"X", 'name':"/dev/DKitty"},
         'sensor':[
-            {'range':(-3.419,  0.279), 'noise':0.05, 'hdr_id':10, 'scale':+1, 'offset':-3*np.pi/2, 'name':'A:FRJ10_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':11, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ11_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':12, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ12_pos_sensor'},
-            {'range':(-0.279,  3.419), 'noise':0.05, 'hdr_id':20, 'scale':+1, 'offset':-np.pi/2, 'name':'A:FLJ20_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':21, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ21_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':22, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ22_pos_sensor'},
-            {'range':(-0.279,  3.419), 'noise':0.05, 'hdr_id':30, 'scale':-1, 'offset':3*np.pi/2, 'name':'A:BLJ30_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':31, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ31_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':32, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ32_pos_sensor'},
-            {'range':(-3.419,  0.279), 'noise':0.05, 'hdr_id':40, 'scale':-1, 'offset':np.pi/2, 'name':'A:BRJ40_pos_sensor'},
-            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'hdr_id':41, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ41_pos_sensor'},
-            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'hdr_id':42, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ42_pos_sensor'}
+            {'range':(-3.419,  0.279), 'noise':0.05, 'adr':10, 'scale':+1, 'offset':-3*np.pi/2, 'name':'A:FRJ10_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':11, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ11_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':12, 'scale':-1, 'offset':np.pi, 'name':'A:FRJ12_pos_sensor'},
+            {'range':(-0.279,  3.419), 'noise':0.05, 'adr':20, 'scale':+1, 'offset':-np.pi/2, 'name':'A:FLJ20_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':21, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ21_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':22, 'scale':+1, 'offset':-np.pi, 'name':'A:FLJ22_pos_sensor'},
+            {'range':(-0.279,  3.419), 'noise':0.05, 'adr':30, 'scale':-1, 'offset':3*np.pi/2, 'name':'A:BLJ30_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':31, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ31_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':32, 'scale':+1, 'offset':-np.pi, 'name':'A:BLJ32_pos_sensor'},
+            {'range':(-3.419,  0.279), 'noise':0.05, 'adr':40, 'scale':-1, 'offset':np.pi/2, 'name':'A:BRJ40_pos_sensor'},
+            {'range':(-2.14 ,  2.14 ), 'noise':0.05, 'adr':41, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ41_pos_sensor'},
+            {'range':(-1.57 ,  1.57 ), 'noise':0.05, 'adr':42, 'scale':-1, 'offset':np.pi, 'name':'A:BRJ42_pos_sensor'}
         ],
         'actuator':[
-            {'pos_range':(-0.75 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
-            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
-            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
-            {'pos_range':(-0.279,  0.75 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
-            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
-            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
-            {'pos_range':(-0.279,  0.75 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
-            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
-            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
-            {'pos_range':(-0.75 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
-            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
-            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
+            {'pos_range':(-0.75 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
+            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
+            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
+            {'pos_range':(-0.279,  0.75 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
+            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
+            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
+            {'pos_range':(-0.279,  0.75 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
+            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
+            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
+            {'pos_range':(-0.75 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
+            {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
+            {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
         ]
 
         # 'actuator':[ # restricted shoulder
-        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
-        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
-        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
-        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
-        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
-        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'hdr_id':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
+        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':10, 'scale':+1, 'offset':-1*(-3*np.pi/2), 'name':'A:FRJ10'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':11, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ11'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':12, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:FRJ12'},
+        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':20, 'scale':+1, 'offset':-1*(-np.pi/2), 'name':'A:FLJ20'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':21, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ21'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':22, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:FLJ22'},
+        #     {'pos_range':(-0.279,  0.279 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':30, 'scale':-1, 'offset':+1*(3*np.pi/2), 'name':'A:BLJ30'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':31, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ31'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':32, 'scale':+1, 'offset':-1*(-np.pi), 'name':'A:BLJ32'},
+        #     {'pos_range':(-0.279 ,  0.279), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':40, 'scale':-1, 'offset':+1*(np.pi/2), 'name':'A:BRJ40'},
+        #     {'pos_range':(-0.00 ,  1.57 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':41, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ41'},
+        #     {'pos_range':(-1.57 ,  0.00 ), 'vel_range':(-2*np.pi/4, 2*np.pi/4), 'adr':42, 'scale':-1, 'offset':+1*(np.pi), 'name':'A:BRJ42'}
         # ]
     }
 }
\ No newline at end of file
diff --git a/robohive/robot/README.md b/robohive/robot/README.md
index 18ac300c..6d61cb6d 100644
--- a/robohive/robot/README.md
+++ b/robohive/robot/README.md
@@ -6,7 +6,7 @@ RoboHive uses an abstract class called `robot` to interface with all agents/devi
 ![Alt text](robohive_robot_overview.png "Optional title")
 
 RoboHive's goal is to make hardware as seamless to use as simulations. In order to achieve this, RoboHive projects hardware into simulation. Conceptually, this implies that all our computations happen as if we are always working in a simulated setting, hardware merely is a dynamic function that updates the sim. This has a few fundamental benefits
-1. Interpretability of the simulation carried over to hardware. Users don't need to know all the hardware details.
+1. Interpretability of the simulation carried over to hardware. Users doesn't need to know all the hardware details.
 2. It's easy to prototype in simulation and later port results into hardware. This is very useful for paradigms like sim2real.
 3. Simulation provides a general parameterization to the hardware details when it's important.
 4. Simulation rendering can be used as a real time visualizer for the hardware updates.
@@ -42,12 +42,12 @@ Robot configurations are specified using config files. The file is essentially a
 'franka':{
    'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale':0.5},
    'sensor':[
-       {'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
-       {'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
+       {'range':(-2.9, 2.9), 'noise':0.05, 'adr':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
+       {'range':(-1.8, 1.8), 'noise':0.05, 'adr':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
    ],
    'actuator':[
-       {'pos_range':(-2.9, 2.9), 'vel_range':(-2, 2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
-       {'pos_range':(-1.8, 1.8), 'vel_range':(-2, 2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
+       {'pos_range':(-2.9, 2.9), 'vel_range':(-2, 2), 'adr':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
+       {'pos_range':(-1.8, 1.8), 'vel_range':(-2, 2), 'adr':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
    ],
    'cam': []
 },
@@ -56,10 +56,10 @@ Robot configurations are specified using config files. The file is essentially a
 'robotiq':{
    'interface': {'type': 'robotiq', 'ip_address':'172.16.0.1'},
    'sensor':[
-       {'range':(0, 0.834), 'noise':0.0, 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
+       {'range':(0, 0.834), 'noise':0.0, 'adr':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
    ],
    'actuator':[
-       {'pos_range':(0, 1), 'vel_range':(-2, 4), 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-0.08, 'offset':0.08},
+       {'pos_range':(0, 1), 'vel_range':(-2, 4), 'adr':0, 'name':'robotiq_2f_85', 'scale':-0.08, 'offset':0.08},
    ],
    'cam': []
 },
@@ -70,8 +70,8 @@ Robot configurations are specified using config files. The file is essentially a
    'sensor':[],
    'actuator':[]
    'cam': [
-       {'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
-       {'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':1, 'offset':0, 'name':'/depth_uncolored/image_raw'},
+       {'range':(0, 255), 'noise':0.00, 'adr':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
+       {'range':(0, 255), 'noise':0.00, 'adr':'d', 'scale':1, 'offset':0, 'name':'/depth_uncolored/image_raw'},
    ],
 },
 ```
@@ -90,7 +90,7 @@ Robot class is configured using a config file. The config file is essentially a
    - `name`: Name of the sensor. Note: This has to be the same as the sensor name in the MuJoCo model.
    - `range`: Range of values expected from this sensor. Readings outside these ranges are clamped to the limits.
    - `noise`: expected amplitude of noise in the sensor readings. Use this parameter to add noise to the simulated sensor reading. Noise is sampled from a uniform distribution between `(-noise, +noise)` and added to the sensor reading. It has no effect if the robot is instantiated using hardware backend. ```sensor += noise_scale*sensor['noise']*self.np_random.uniform(low=-1.0, high=1.0)``` where `noise_scale` is a parameter (of the entire robot) to scale the noise of the whole robot.
-   - `hdr_id`: Hardware index of the sensor in the hardware's sensor array.
+   - `adr`: Hardware index of the sensor in the hardware's sensor array.
    - `scale`/`offset`: parameters to map hardware sensor values to simulated sensor values `sensor_sim = sensor_hdr*scale+offset`
 
    **Note**: Currently only scalar sensors are supported. Multi-valued sensor support is on the wishlist.
@@ -99,14 +99,14 @@ Robot class is configured using a config file. The config file is essentially a
    - `name`: Name of the sensor. Since there are no explicit camera sensors in MuJoCo, there are no specific constraints on camera names. We internally use the pub-sub topics names as camera names.
    - `range`: see description in sensor
    - `noise`:see description in sensor
-   - `hdr_id`: see description in sensor
+   - `adr`: see description in sensor
    - `scale`/`offset`: see description in sensor
 
 - **`actuator`**: An ordered list of all available actuators. List ordering must follow the same order as specified in the MuJoCo model. List ordering is used to implicitly determine the actuator's index in the actuator array -
    - `name`: Name of the actuator. Note: This has to be the same as the actuator name in the MuJoCo model.
    - `range`: Range of values the actuator can accept in the sim space. Readings outside these ranges are clamped to the limits.
    - `noise`: [_Wishlist_] expected amplitude of noise in actuator's performance. Use this parameter to add noise to the simulated actuator demands. Noise is sampled from a uniform distribution between `(-noise, +noise)` and added to the actuator demands. It has no effect if the robot is instantiated using hardware backend. ```ctrl_sim += noise_scale*act['noise']*self.np_random.uniform(low=-1.0, high=1.0)``` where `noise_scale` is a parameter (of the entire robot) to scale the noise of the whole robot.
-   - `hdr_id`: Hardware index of the actuator in the hardware's sensor array.
+   - `adr`: Hardware index of the actuator in the hardware's sensor array.
    - `scale`/`offset`: parameters to map simulated desired values to hardware actuator demands `ctrl_hdr = ctrl_sim*scale+offset`
 
 
diff --git a/robohive/robot/hardware_dynamixel.py b/robohive/robot/hardware_dynamixel.py
index 5e94513c..6c769f18 100644
--- a/robohive/robot/hardware_dynamixel.py
+++ b/robohive/robot/hardware_dynamixel.py
@@ -5,9 +5,11 @@
 License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
 ================================================= """
 
-from .hardware_base import hardwareBase
-from dynamixel_py import dxl
 import numpy as np
+from dynamixel_py import dxl
+
+from .hardware_base import hardwareBase
+
 
 class Dynamixels(hardwareBase):
     def __init__(self, name, motor_ids, motor_type, devicename, **kwargs):
@@ -22,7 +24,7 @@ def connect(self):
 
         # set actuator mode
         for actuator in device['actuator']:
-            self.dxls.set_operation_mode(motor_id=[actuator['hdr_id']], mode=actuator['mode'])
+            self.dxls.set_operation_mode(motor_id=[actuator['adr']], mode=actuator['mode'])
 
         # engage motors
         self.dxls.engage_motor(motor_id=self.dxls, enable=True)
diff --git a/robohive/robot/robot.py b/robohive/robot/robot.py
index 1d913b5b..f95f48e5 100644
--- a/robohive/robot/robot.py
+++ b/robohive/robot/robot.py
@@ -30,14 +30,15 @@
 # Support for non uniform noise in sensor readings
 # Support for noisy actions + separate noise_scale for sensor and actuator
 # rename pos/vel to act/delta_act
-# Improve space definitions
-    # sim_id: ID of the sensor/actuator in the sim
-    # act_id: ID of the sensor/actuator in the robot_config (hardware) space ==> Rename to hdr_id (robot_config unified different hardware into a single unified hardware space)
-    # hdr_id: ID of the sensor/actuator in the hardware space (e.g. dynamixel) ==> Rename to adr (This is the address that is used to communicate with the hardware. It is not necessarily the same as the act_id or sim_id.)
 
 # NOTE/ GOOD PRACTICES ===========================
 # nq should be nv
 # Order of sensors and actuators in config should follow XML order
+# Space definitions
+    # sim_id: ID of the sensor/actuator in the sim
+    # hdr_id: ID of the sensor/actuator in the robot_config (hardware) space (robot_config unifies different hardware into a single unified hardware space)
+    # adr: Address of the sensor/actuator in the individual hardware space (e.g. dynamixel) (This is the address used during communicate with the individual hardware)
+
 
 
 class Robot():
@@ -171,7 +172,7 @@ def hardware_init(self, robot_config):
 
                 # set actuator mode
                 for actuator in device['actuator']:
-                    device['robot'].set_operation_mode(motor_id=[actuator['hdr_id']], mode=actuator['mode'])
+                    device['robot'].set_operation_mode(motor_id=[actuator['adr']], mode=actuator['mode'])
 
                 # engage motors
                 device['robot'].engage_motor(motor_id=device['actuator_ids'], enable=True)
@@ -240,7 +241,6 @@ def hardware_apply_controls(self, control, space='hdr', is_reset=False):
         is_reset: if True, reset the hardware to the control values
         """
 
-        act_id = -1 # IDs as per the config order
         for name, device in self.robot_config.items():
             if 'actuator' in device.keys() and len(device['actuator'])>0:
                 if device['interface']['type'] == 'dynamixel':
@@ -250,15 +250,14 @@ def hardware_apply_controls(self, control, space='hdr', is_reset=False):
                     pwm_ctrl = []
                     pwm_ids = []
                     for actuator in device['actuator']:
-                        act_id += 1
-                        ctrl = control[actuator['sim_id']] if space == 'sim' else control[act_id]
+                        ctrl = control[actuator['sim_id']] if space == 'sim' else control[actuator['hdr_id']]
                         # calibrate
                         calib_ctrl = ctrl*actuator['scale']+ actuator['offset']
                         if actuator['mode'] == 'Position':
-                            pos_ids.append(actuator['hdr_id'])
+                            pos_ids.append(actuator['adr'])
                             pos_ctrl.append(calib_ctrl)
                         elif actuator['mode'] == 'PWM':
-                            pwm_ids.append(actuator['hdr_id'])
+                            pwm_ids.append(actuator['adr'])
                             pwm_ctrl.append(calib_ctrl)
                         else:
                             print("ERROR: Mode not found")
@@ -272,8 +271,7 @@ def hardware_apply_controls(self, control, space='hdr', is_reset=False):
                 elif device['interface']['type'] in ['franka', 'robotiq']:
                     des_pos = []
                     for actuator in device['actuator']:
-                        act_id += 1
-                        ctrl = control[actuator['sim_id']] if space == 'sim' else control[act_id]
+                        ctrl = control[actuator['sim_id']] if space == 'sim' else control[actuator['hdr_id']]
                         # calibrate
                         des_pos.append(ctrl*actuator['scale']+ actuator['offset'])
                     if is_reset:
@@ -322,6 +320,8 @@ def configure_robot(self, sim, config_path):
         with open(config_path, 'r') as f:
             robot_config = eval(f.read())
 
+        hdr_sensor_id = -1 # IDs as per the config order
+        hdr_actuator_id = -1 # IDs as per the config order
         for name, device in robot_config.items():
             prompt("Configuring component %s"% name)
 
@@ -329,9 +329,11 @@ def configure_robot(self, sim, config_path):
             device['sensor_ids'] = []
             device['sensor_names'] = []
             for sensor in device['sensor']:
-                device['sensor_names'].append(sensor['name']) # list of all ids
-                device['sensor_ids'].append(sensor['hdr_id']) # list of all ids
+                hdr_sensor_id += 1
+                sensor['hdr_id'] = hdr_sensor_id
                 sensor['sim_id'] = sim.model.sensor_name2id(sensor['name'])
+                device['sensor_names'].append(sensor['name']) # list of all ids
+                device['sensor_ids'].append(sensor['adr']) # list of all ids
                 sensor_type = sim.model.sensor_type[sensor['sim_id']]
                 sensor_objid = sim.model.sensor_objid[sensor['sim_id']]
                 if sensor_type == mujoco.mjtSensor.mjSENS_JOINTPOS:  # mjSENS_JOINTPOS,// scalar joint position (hinge and slide only)
@@ -350,9 +352,11 @@ def configure_robot(self, sim, config_path):
             device['actuator_ids'] = []
             device['actuator_names'] = []
             for actuator in device['actuator']:
-                device['actuator_names'].append(actuator['name']) # list of all ids
-                device['actuator_ids'].append(actuator['hdr_id']) # list of all ids
+                hdr_actuator_id += 1
+                actuator['hdr_id'] = hdr_actuator_id
                 actuator['sim_id'] = sim.model.actuator_name2id(actuator['name'])
+                device['actuator_names'].append(actuator['name']) # list of all ids
+                device['actuator_ids'].append(actuator['adr']) # list of all ids
                 actuator_trntype = sim.model.actuator_trntype[actuator['sim_id']]
                 actuator_trnid = sim.model.actuator_trnid[actuator['sim_id'], 0]
                 if actuator_trntype == mujoco.mjtTrn.mjTRN_JOINT:  # // force on joint
@@ -453,7 +457,7 @@ def get_visual_sensors(self, height:int, width:int, cameras:list, device_id:int,
 
                 # calibrate sensors
                 for cam in device['cam']:
-                    current_sensor_value[cam_name][cam['hdr_id']] = current_sensor_value[cam_name][cam['hdr_id']]*cam['scale'] + cam['offset']
+                    current_sensor_value[cam_name][cam['adr']] = current_sensor_value[cam_name][cam['adr']]*cam['scale'] + cam['offset']
                 device['sensor_data'] = current_sensor_value[cam_name]
                 device['sensor_time'] = current_sensor_value['time']
                 imgs[ind, :, :, :] = current_sensor_value[cam_name]['rgb']
@@ -566,7 +570,6 @@ def normalize_actions(self, controls, out_space='sim', unnormalize=False):
         Recover actions from unit space to absolute space; if unnormalize==True
         in_space for controls has to be 'sim'
         """
-        act_id = -1 # IDs as per the config order
         controls_out = controls.copy()
         for name, device in self.robot_config.items():
             if name == "default_robot":
@@ -578,10 +581,9 @@ def normalize_actions(self, controls, out_space='sim', unnormalize=False):
                     raise TypeError("only pos act supported")
             else:
                 for actuator in device['actuator']:
-                    act_id += 1
                     in_id = actuator['sim_id']
                     # output ordering is as per the config order for hdr
-                    out_id = actuator['sim_id'] if out_space == 'sim' else act_id
+                    out_id = actuator['sim_id'] if out_space == 'sim' else actuator['hdr_id']
 
                     if self._act_mode == "pos":
                         act_mid = (actuator['pos_range'][1]+actuator['pos_range'][0])/2.0
@@ -619,7 +621,6 @@ def process_actuator(self, controls, step_duration,
         """
         # last_obs = self.get_sensor_from_cache(-1)
         processed_controls = controls.copy()
-        act_id = -1 # IDs as per the config order
         for name, device in self.robot_config.items():
             if name == "default_robot":
                 if self._act_mode == "pos":
@@ -630,10 +631,9 @@ def process_actuator(self, controls, step_duration,
                     raise TypeError("only pos act supported")
             else:
                 for actuator in device['actuator']:
-                    act_id += 1
                     in_id = actuator['sim_id']
                     # output ordering is as per the config order for hdr
-                    out_id = actuator['sim_id'] if out_space == 'sim' else act_id
+                    out_id = actuator['sim_id'] if out_space == 'sim' else actuator['hdr_id']
 
                     control = controls[in_id]
                     if self._act_mode == "pos":