TimeSpec stamp
uint32 error_code
IMUState imu_state
uint8 mode
float32 progress
uint8 gait_type
float32 foot_raise_height
float32[3] position
float32 body_height
float32[3] velocity
float32 yaw_speed
float32[4] range_obstacle
int16[4] foot_force
float32[12] foot_position_body
float32[12] foot_speed_body