| TimeSpec stamp | |
| uint32 error_code | |
| IMU 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 | |