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