uint64 time_sec
uint64 time_nsec
float32[12] q
float32[12] dq
float32[12] tau
float32[4] contact
float32[3] accel
float32[3] gyro
float32[4] quat
float32 imu_temp
float32[12] motor_temp
uint8[40] wireless_remote
uint8 soc